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We have now understood how basic Ross communication using nodes happened and launch files can be a plus

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in this case.

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In our car case, we are going to be dealing with a topic named ACM Deville, which is going to be containing

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velocities three, four, Angular and three four linear linear means in x ray Z on the ground, and

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angular means rotational velocities, which are going to be only usable for the z-axis because in X

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and Y we cannot rotate a robot.

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And in linear velocities we are going to be using X and Y of this command topic.

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Now this topic is going to be produced using geometric message, a type of message in the rows, and

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for that it is going to be utilizing twist, which is going to contain this data type.

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So in our car we are going to have a publisher which is going to tell us a command velocities that can

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be first, a keyboard package that we will take a look how we are going to drive using this keyboard,

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tell your keyboard package and that is going to directly affect our robot in the simulation.

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Okay.

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It is going to make a robot move in X, Y, Z, an angular z direction.

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Now you will see.

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But the basic point here is command velocity is going to be the topic on which we are going to be communicating

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with the robot in the simulation.

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So this publisher subscriber concept is going to be utilized to drive the robot.