swarm_behaviors_velocity

This package provides velocity related functionalities. It is a library package of the swarm behaviors library.

Dependencies

This package depends on the following message definitions:

• geometry_msgs
• cpswarm_msgs

The following library packages of the swarm behaviors library are required:

• swarm_behaviors_position

The following packages of the sensing and actuation library are required:

• *_vel_provider
• *_vel_controller

Further required packages are:

• roscpp

Libraries

velocity

The velocity library provides velocity related functionalities. These include retrieval of current velocity, computation of relative velocity, computation of velocity to reach a certain waypoint, and setting the actuators velocity.

Subscribed Topics

• vel_provider/velocity (geometry_msgs/TwistStamped) Current velocity of the CPS.

Published Topics

• vel_controller/target_velocity (geometry_msgs/Twist) The target velocity at which the CPS shall move.

Parameters

• ~loop_rate (real, default: 5.0) The frequency in Hz at which to run the control loops.
• ~queue_size (integer, default: 1) The size of the message queue used for publishing and subscribing to topics.

Code API

swarm_behaviors_velocity package code API documentation

Changelog for package velocity

1.3.0 (2020-01-03)

• Changed: Rename velocity library to swarm_behaviors_velocity

1.2.0 (2019-12-29)

• Changed: Refactor library structure
• Changed: Limit velocity for small distances
• Fixed: Force C++11
• Initial release of velocity
• Contributors: Micha Sende