velcmd
Drivers

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

Last updated 12 September 2005 21:38:45