Bb8 keeps spinning - no friction, /cmd_vel doesnt fully work

Really strange. Perhaps your publication didn’t get to the robot? Please check if the topic below helps:

How to publish once (only one message) into a topic and get it to work

Yes, you should not publish faster than your publisher’s queue_size can accommodate, otherwise, some messages will be dropped. You define the queue_size when you create a publisher like this:

publisher = rospy.Publisher('/cmd_vel', Twist, queue_size=5)

It’s a good idea to control your publishing rate with rate.sleep() or similar, so you don’t publish too fast.


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