This sensor returns the linear and angular velocity of the sensor, both in robot frame and in world frame. Linear velocities are expressed in meter . sec ^ -1 while angular velocities are expressed in radian . sec ^ -1.

The sensor expects that the associated robot has a physics controller.

Configuration parameters for Velocity

You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).

  • ComputationMode (string, default: "Automatic")

    Kind of computation, can be one of [‘Velocity’, ‘Position’]. Only robot with dynamic and Velocity control can choose Velocity computation. Default choice is Velocity for robot with physics, and Position for others

Data fields

This sensor exports these datafields at each simulation step:

  • timestamp (float, initial value: 0.0)

    number of seconds in simulated time

  • linear_velocity (vec3<float>, initial value: [0.0, 0.0, 0.0])

    velocity in sensor x, y, z axes (in meter . sec ^ -1)

  • angular_velocity (vec3<float>, initial value: [0.0, 0.0, 0.0])

    rates in sensor x, y, z axes (in radian . sec ^ -1)

  • world_linear_velocity (vec3<float>, initial value: [0.0, 0.0, 0.0])

    velocity in world x, y, z axes (in meter . sec ^ -1)

Interface support:

Services for Velocity

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties

  • get_local_data() (blocking)

    Returns the current data stored in the sensor.

    • Return value

      a dictionary of the current sensor’s data

  • 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


  • get_configurations() (blocking)

    Returns the configurations of a component (parsed from the properties).

    • Return value

      a dictionary of the current component’s configurations


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 sensor
velocity = Velocity()

# place your component at the correct location
velocity.translate(<x>, <y>, <z>)
velocity.rotate(<rx>, <ry>, <rz>)


# define one or several communication interface, like 'socket'

env = Environment('empty')

Other sources of examples

(This page has been auto-generated from MORSE module morse.sensors.velocity.)

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