Can the rotation action be rotated clockwise?

[taara67]

How are you connecting to your Create 3?

USB Ethernet (ROS 2)

Computer(s) Model(s) and Operating System(s)

jetson Orin nano Ubuntu20.04

Which version of ROS 2 is installed on your computer?

Galactic

Which firmware version is installed on your robot?

G.5.3

Which RMW is your robot running?

CycloneDDS

Does your robot have an assigned namespace? If so, please share.

No response

Is the robot connected to a network? If so, what is the network type?

No response

Are there multiple Create 3 robots connected to your network?

None

Is multicast enabled?

None

What is the Adapter Board's USB/BLE Toggle currently switched to?

USB

Describe your question.

Hello, I am thinking of implementing a function to follow people using 3DLiDAR.
A simple function that rotates and moves forward in the direction of the human body could be implemented using rclpy, but since we enter a value from 0 to 2π in the rotatWe eaction argument, in a situation that Create3 would be enough to turn 1π/8 to the right, it turn 15π/8 to the left.
I would like to solve this problem.

[brianabouchard]

Hello! I'm happy to help. Just to confirm, are you using the pre-built Create 3 action RotateAngle.action?

Now, for the problem itself, is the issue that you want the Create 3 to rotate in both directions? What happens when you enter a negative value for the rotation angle?

[taara67]

oh
I had overlooked it. It seems possible to input negative angles as well.
thank you

by the way,
Which site would you recommend to find sample code for various systems that use create_msgs?

I would like to see various codes to learn rclpy.

[brianabouchard]

Excellent!

We're in the process of adding additional python examples to the official Create 3 Examples Repository. In the meantime, you can check out additional examples using rclpy with the Create 3 robot on this student produced repository.