velcmd

Velocity commands sender. More...

Velocity commands sender.

The velcmd driver keeps on repeating configured velocity command.

Compile-time dependencies

• none

Provides

• opaque

Requires

• position2d
• optionally: 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