Move command not working as explained

[ahar]

I want P3-DX to move 2000mm in forward direction. So, within rosaria.cpp in the following function I added one extra line within cmdvel_cb callback.

ArRobot robot;
void RosAriaNode::cmdvel_cb( const geometry_msgs::TwistConstPtr &msg)
{
robot->move(2000);
}

But the robot does not move in the same speed for 2000mm. Instead it moves much faster than commanded velocity and does not stop after 2000m. Can anybody point out the mistake that I am making?

thanks,

[reedhedges]

You can't really use velocity control and position control simultaneously in ARIA. If you have any cmd_vel publisher active it will certainly not work. (The speed that the robot uses for the MOVE command is a preset max speed.)

To do it well in ROSARIA, a concept of control mode or state needs to be implemented using a ROS "action server". For an example of how this might be done, see the ros-arnl project: https://github.com/MobileRobots/ros-arnl/blob/master/rosarnl_node.cpp#L81 However, instead of using ArServerModeJogPosition, we would want to use ArRobot directly (move(), isMoveDone() or our own checking, etc.)