No version for distro humble showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro jazzy showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro kilted showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro rolling showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro ardent showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro bouncy showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro crystal showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro eloquent showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro dashing showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro galactic showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro foxy showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro iron showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro lunar showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro jade showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro indigo showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro hydro showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro kinetic showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
No version for distro melodic showing noetic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

README

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).