action_nodes.md

Basic Movement

• LinearAngularStatic

  Publishes a Twist message on the topic /cmd_vel with a linear and angular velocity defined in the node JSON
  
  Params:
      lin_vel (float): Linear x velocity for Twist msg
      ang_vel (float): Angular z velocity for Twist msg

• LinearAngularDynamic

  Publishes a twist message on the topic /cmd_vel with a linear and angular velocity provided by variables in the blackboard
  
  Params:
      linear_var_name (string): Name of the blackboard variable holding the linear x velocity to add to Twist msg
      angular_var_name (string): Name of the blackboard variable holding the angular z velocity to add to Twist msg

• Stop

  Publishes a Twist msg on /cmd_vel with all velocity values set to 0