http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html
File: geometry_msgs/Twist.msg
Raw Message Definition
# This expresses velocity in free space broken into its linear and angular parts.
Vector3 linear
Vector3 angular
Vector3 linear
Vector3 angular
Compact Message Definition
geometry_msgs/Vector3 lineargeometry_msgs/Vector3 angular
http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html
例:
geometry_msgs::Twist vel;
vel.angular.z = 0.3;
vel.linear.x = 0.05;