Velocity commands sender.
More...
Velocity commands sender.
The velcmd driver keeps on repeating configured velocity command.
- Compile-time dependencies
- Provides
- Requires
- Configuration requests
- Configuration file options
- px (float)
- py (float)
- pa (float)
- power_on (integer)
- Default: 1
- If set to 1, send power-on request at startup
- sleep_nsec (integer)
- Default: 100000000 (10 sends per second)
- timespec value for nanosleep()
- first_idx (integer) (only if ranger in use)
- Default: 0
- Index of the first ranger scan to use
- last_idx (integer) (only if ranger in use)
- Default: -1 (the last scan)
- Index of the last ranger scan to use
- ranger_power_on (integer) (only if ranger in use)
- Default: 0
- If set to 1, send power-on request at startup
If ranger device is in use, mean from readings will be multiplied by these values:
- pxr (float)
- Default: 0.0
- resulting value will be kept lower or equal px given above
- pyr (float)
- Default: 0.0
- resulting value will be kept lower or equal py given above
- par (float)
- Default: 0.0
- resulting value will be kept lower or equal pa given above
- Example
driver
(
name "velcmd"
provides ["opaque:0"]
requires ["position2d:0" "ranger:0"]
px 3.0
py 0.0
pa 0.0
pxr 0.2
first_idx 1
last_idx 6
alwayson 1
)
- Author:
- Paul Osmialowski