cmd_vel_smoother

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

No version for distro jazzy showing jade. Known supported distros are highlighted in the buttons above.

cmd_vel_smoother package from jsk_control repo

cmd_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
jade

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

No version for distro kilted showing jade. Known supported distros are highlighted in the buttons above.

cmd_vel_smoother package from jsk_control repo

cmd_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
jade

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

No version for distro rolling showing jade. Known supported distros are highlighted in the buttons above.

cmd_vel_smoother package from jsk_control repo

cmd_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
jade

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

No version for distro ardent showing jade. Known supported distros are highlighted in the buttons above.

cmd_vel_smoother package from jsk_control repo

cmd_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
jade

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

No version for distro bouncy showing jade. Known supported distros are highlighted in the buttons above.

cmd_vel_smoother package from jsk_control repo

cmd_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
jade

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

No version for distro crystal showing jade. Known supported distros are highlighted in the buttons above.

cmd_vel_smoother package from jsk_control repo

cmd_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
jade

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

No version for distro eloquent showing jade. Known supported distros are highlighted in the buttons above.

cmd_vel_smoother package from jsk_control repo

cmd_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
jade

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

No version for distro dashing showing jade. Known supported distros are highlighted in the buttons above.

cmd_vel_smoother package from jsk_control repo

cmd_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
jade

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

No version for distro galactic showing jade. Known supported distros are highlighted in the buttons above.

cmd_vel_smoother package from jsk_control repo

cmd_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
jade

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

No version for distro foxy showing jade. Known supported distros are highlighted in the buttons above.

cmd_vel_smoother package from jsk_control repo

cmd_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
jade

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

No version for distro iron showing jade. Known supported distros are highlighted in the buttons above.

cmd_vel_smoother package from jsk_control repo

cmd_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
jade

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

No version for distro lunar showing jade. Known supported distros are highlighted in the buttons above.

cmd_vel_smoother package from jsk_control repo

cmd_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
jade

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

cmd_vel_smoother package from jsk_control repo

cmd_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
jade

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

cmd_vel_smoother package from jsk_control repo

cmd_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
indigo

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

Name	Deps
jsk_pr2_startup

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

cmd_vel_smoother package from jsk_control repo

cmd_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
hydro

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

Name	Deps
jsk_pr2_startup

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

cmd_vel_smoother package from jsk_control repo

cmd_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
kinetic

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

cmd_vel_smoother package from jsk_control repo

cmd_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
melodic

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange

cmd_vel_smoother package from jsk_control repo

cmd_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
noetic

Package Summary

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	2025-09-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The cmd_vel_smoother package

Maintainers

Yuki Furuta

Authors

Yuki Furuta

cmd_vel_smoother

interpolate

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

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/cmd_vel_smoother.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cmd_vel_smoother` at Robotics Stack Exchange