Clarification needed: /cmd_vel publishing has no effect, unclear if App auto mode needs to be triggered via ROS #2
Description
Hello,
I am currently testing the Lite3_ROS message_transformer package and I ran into some confusion regarding the velocity command interface.
According to the README:
"Use the topic /cmd_vel to send velocity commands to motion host"
I have tried publishing Twist messages to /cmd_vel (e.g. via rostopic pub) but currently the robot does not react or move at all. The UDP bridge appears to be running correctly (no errors), but no movement is initiated on the robot side.
Additionally, the README states:
"After message_transformer starts, use the App to switch to auto mode, the robot can act according to the velocity as published. In order to prevent damage to people or objects, please debug in the open space and switch back to the manual mode or press emergency stop in emergency."
It is unclear whether this "switch to auto mode" needs to be triggered via:
The robot's mobile app?
A ROS topic or service call?
Some additional UDP message?
Or any other external interface?
I suspect this may be the reason why publishing on /cmd_vel has no effect.
Could you please clarify:
What are the full requirements to enable the robot to respond to /cmd_vel?
Is there a ROS interface for switching between manual/auto mode, or must this always be done via the App?
Are there any additional dependencies or configurations needed for the velocity commands to take effect?
Thank you very much for providing this ROS interface — a bit more detail in the documentation would be extremely helpful for developers trying to integrate Lite3 into custom systems.
Best regards,