We have now understood how basic Ross communication using nodes happened and launch files can be a plus
in this case.
In our car case, we are going to be dealing with a topic named ACM Deville, which is going to be containing
velocities three, four, Angular and three four linear linear means in x ray Z on the ground, and
angular means rotational velocities, which are going to be only usable for the z-axis because in X
and Y we cannot rotate a robot.
And in linear velocities we are going to be using X and Y of this command topic.
Now this topic is going to be produced using geometric message, a type of message in the rows, and
for that it is going to be utilizing twist, which is going to contain this data type.
So in our car we are going to have a publisher which is going to tell us a command velocities that can
be first, a keyboard package that we will take a look how we are going to drive using this keyboard,
tell your keyboard package and that is going to directly affect our robot in the simulation.
Okay.
It is going to make a robot move in X, Y, Z, an angular z direction.
Now you will see.
But the basic point here is command velocity is going to be the topic on which we are going to be communicating
with the robot in the simulation.
So this publisher subscriber concept is going to be utilized to drive the robot.