Usage

Make sure that you have source the ROS environment before calling any of these commands.

Switch to your GoPiGo3 workspace

• cd ~/gopigo3_ws,

source the workspace

• source devel/setup.bash and run
• roslaunch gopigo3_node gopigo3.launch

to finally start the ROS node.

If you switch to another shell and run rostopic list, you will see a list of topics. You can now write to the topic /motor/pwm/left, to change the PWM duty of the left motor, by calling rostopic pub /motor/pwm/left std_msgs/Int8 "data: 50", and reset it by calling rostopic pub /motor/pwm/left std_msgs/Int8 "data: 0". Note that the motor PWM will keep the last sent state until you change it back.