Velocity commands sender

The velcmd driver keeps on repeating configured velocity command.

Compile-time dependencies
  • none
Provides
  • interface_opaque
Requires
  • interface_position2d
  • optionally: interface_ranger
Configuration requests
  • none
Configuration file options
  • px (float)
    • Default: 0.0 (m/s)
  • py (float)
    • Default: 0.0 (m/s)
  • pa (float)
    • Default: 0.0 (rad/s)
  • 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