# (2/4) 轉角速度校準檢查

{% hint style="warning" %}
檢查轉角速度至少為 0.1-0.6 rad/s，檢查機器人是否正確旋轉。 我們建議可以錄製影片，以解決可能出現的任何問題。
{% endhint %}

同樣，重複相同的方法來檢查轉角速度校準。

1. 請執行 `rostopic pub /cmd_vel geometry_msgs/Twist "linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0"` 
2. 將角度 x 數值設置在 0.1-0.6 之間。 將其他值保留為 0.0。
3. 測量機器人轉動了多少。 同樣，記錄轉彎所需的時間。
4. 檢查您的計算，是否與您為角度 z 設置的數值匹配。

或者，您可以使用 `rosrun telelop_twist_keyboard teleop_twist_keyboard.py`。 將角速度設置在 0.1-0.5 之間。 然後重複上面的步驟 3 - 5。


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