cmdvel

sudo chmod 666 /dev/ttyUSB0


ros2 run dynamixel_sdk_examples velocity_control_node


ros2 launch four_wheel_robot_control four_wheel_kinematics.launch.py

ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"



maximum linear: 0.4m/s
maximum angular: 2.19rad/s