ROS Index
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| jsk_pr2_startup |
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| jsk_pr2_startup |
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
|
|
cmd_vel_smoother package from jsk_control repocmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.18 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yuki Furuta
Authors
- Yuki Furuta
cmd_vel_smoother
Interpolate velocity command to be published periodically with acceleration / deceleration limit.
What is this?
Basically this node interpolates velocity not to violate acceleration limit by decelating from last received velocity.
For example PR2 has 10Hz control loop in base_controller and if no cmd_vel has come within 0.1 seconds, the controller stops all the moving motors for safety.
If move_base node publishes cmd_vel lower than 10Hz (let it be 5Hz) but continues publishing, controllers send signal to motors forward for 500ms and stop for 500ms, which causes “rattle” (= moves and suddenly stops repeatedly) and can damages motors and other hardwares.
Parameters
-
~x_acc_lim(Double, default:0.1)limit value of x-axis translational acceleration. This node publishes velocity not to violate this value.
-
~y_acc_lim(Double, default:0.1)limit value of y-axis translational acceleration. This node publishes velocity not to violate this value.
-
~yaw_acc_lim(Double, default:0.1)limit value of z-axis rotational acceleration. This node publishes velocity not to violate this value.
-
~desired_rate(Double, default:10.0)This node interpolates velocity commands to keep the rate
-
~interpolate_max_frame(Int, default:5)Max message count to be published from last received velocity command.
Discussion
-
This package is originated from the discussion in https://github.com/ros-planning/navigation/issues/405 .
I have not looked into detail of implementation but it seems that similar nodes for turtlebot robots exist: https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_velocity_smoother .
Author
Yuki Furuta «furushchev@jsk.imi.i.u-tokyo.ac.jp»
Changelog for package cmd_vel_smoother
0.1.18 (2024-12-09)
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
- add cmd_vel_smoother package
(#683)
- add cmd_vel_smoother package
- Contributors: Yuki Furuta
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
0.1.9 (2016-03-23)
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
0.1.6 (2015-06-11)
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| dynamic_reconfigure | |
| catkin |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cmd_vel_smoother at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.