Package Summary

Tags No category tags.
Version 0.1.15
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 2019-11-13
Dev Status DEVELOPED
Released RELEASED

Package Description

The cmd_vel_smoother package

Additional Links

No additional links.

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

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

0.1.15 (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)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cmd_vel_smoother at answers.ros.org

Package Summary

Tags No category tags.
Version 0.1.15
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 2019-11-13
Dev Status DEVELOPED
Released RELEASED

Package Description

The cmd_vel_smoother package

Additional Links

No additional links.

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

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

0.1.15 (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)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cmd_vel_smoother at answers.ros.org

Package Summary

Tags No category tags.
Version 0.1.15
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 2019-11-13
Dev Status DEVELOPED
Released RELEASED

Package Description

The cmd_vel_smoother package

Additional Links

No additional links.

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

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

0.1.15 (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)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cmd_vel_smoother at answers.ros.org

Package Summary

Tags No category tags.
Version 0.1.15
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 2019-11-13
Dev Status DEVELOPED
Released RELEASED

Package Description

The cmd_vel_smoother package

Additional Links

No additional links.

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

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

0.1.15 (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)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cmd_vel_smoother at answers.ros.org