jonasneves.com

turn_by_angle

Rotate a robot in place by an angle in degrees. Computes duration = (|angle_deg| x pi/180) / angular_velocity and sends a zero-velocity stop when finished. Prefer this over publish_for_durations for rotation — it removes the error-prone duration maths from the caller. Positive angle_deg = counter-clockwise, negative = clockwise. Units: angle_deg in degrees, angular_velocity in rad/s. Example — turn turtle1 90 degrees counter-clockwise at 1.0 rad/s: turn_by_angle(cmd_vel_topic='/ts1/turtle1/cmd_vel', msg_type='geometry_msgs/Twist', angle_deg=90)

Page: /ros-mcp/

Input schema

{
  "type": "object",
  "properties": {
    "cmd_vel_topic": {
      "type": "string",
      "description": "e.g. /ts1/turtle1/cmd_vel"
    },
    "msg_type": {
      "type": "string",
      "description": "e.g. geometry_msgs/Twist"
    },
    "angle_deg": {
      "type": "number",
      "description": "Degrees; positive = counter-clockwise"
    },
    "angular_velocity": {
      "type": "number",
      "description": "rad/s, must be > 0",
      "default": 1
    }
  },
  "required": [
    "cmd_vel_topic",
    "msg_type",
    "angle_deg"
  ]
}