Linear and angular speed (Vx, Vy, W) actuator¶
Motion controller using linear and angular speeds
This actuator reads the values of forwards movement x, sidewards movement y and angular speed w and applies them to the robot as direct translation. This controller is supposed to be used with robots that allow for sidewards movements.
Configuration parameters for Linear and angular speed (Vx, Vy, W) actuator¶
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...)
.
ControlType
(string, default:"Velocity"
)- Kind of control, can be one of [‘Velocity’, ‘Position’]
Data fields¶
This actuator reads these datafields at each simulation step:
x
(float, initial value:0.0
)- linear velocity in x direction (forward movement) (m/s)
y
(float, initial value:0.0
)- linear velocity in y direction (sidewards movement) (m/s)
w
(float, initial value:0.0
)- angular velocity (rad/s)
Interface support:
ros
as geometry_msgs/Twist (morse.middleware.ros.motion_xyw.TwistReader
)socket
as straight JSON deserialization (morse.middleware.socket_datastream.SocketReader
)yarp
as YarpReader (morse.middleware.yarp_datastream.YarpReader
)
Services for Linear and angular speed (Vx, Vy, W) actuator¶
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
get_properties()
(blocking)Returns the properties of a component.
Return value
a dictionary of the current component’s properties
set_property(prop_name, prop_val)
(blocking)Modify one property on a component
Parameters
prop_name
: the name of the property to modify (as shown the documentation)prop_val
: the new value of the property. Note that there is no checking about the type of the value so be careful
Return value
nothing
Examples¶
The following examples show how to use this component in a Builder script:
from morse.builder import *
# adds a default robot (the MORSE mascott!)
robot = Morsy()
# creates a new instance of the actuator
motionxyw = MotionXYW()
# place your component at the correct location
motionxyw.translate(<x>, <y>, <z>)
motionxyw.rotate(<rx>, <ry>, <rz>)
robot.append(motionxyw)
# define one or several communication interface, like 'socket'
motionxyw.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.actuators.xy_omega.)