rover
cluster/cmd_vel
and /odom
cmd/vel
: sent to a robot to command it to move (locomotion)odom
: received from a robot to report where (it thinks) it isTwist
message is used for cmd_vel
cmd_vel
it is asking the robot to movemotor_control
) which subscribes to cmd_velmotor_control
comes with the robot and is run automaticallymotor_control
is connected to the motors.motor_control
exists and runs even if no other node is publishing cmd_vel
cmd_vel
odom
constantly (say 30 times per second)