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Update drive commands for Jazzy with TwistStamped #453

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Merged
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Aug 18, 2025
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Update drive commands for Jazzy with TwistStamped #453

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23 changes: 12 additions & 11 deletions docs_versioned_docs/version-ros2jazzy/ros/tutorials/driving.mdx
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Expand Up @@ -44,29 +44,30 @@ sudo apt-get install ros-jazzy-teleop-twist-keyboard
Once installed, run the node:

```
ros2 run teleop_twist_keyboard teleop_twist_keyboard
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true
```

If your robot uses a namespace, the namespace should be applied to `teleop_twist_keyboard`:

```
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/j100_0001
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true -r __ns:=/j100_0001
```

## Command Velocity

You can manually publish to the `cmd_vel` topic through the command line by calling:

```
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
"linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0"
ros2 topic pub /cmd_vel geometry_msgs/msg/TwistStamped \
"twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0"
```

Set the `linear.x` value to drive the robot forwards or backwards, and the `angular.z` value to rotate left or right.