Velocity¶
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:
ros
as geometry_msgs/TwistStamped (morse.middleware.ros.velocity.TwistStampedPublisher
)socket
as straight JSON serialization (morse.middleware.socket_datastream.SocketPublisher
)yarp
as YarpPublisher (morse.middleware.yarp_datastream.YarpPublisher
)moos
as StringPublisher (morse.middleware.moos.abstract_moos.StringPublisher
)text
as key = value format with timestamp and index value (morse.middleware.text_datastream.Publisher
)
Services for Velocity¶
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
get_local_data()
(blocking)Returns the current data stored in the sensor.
Return value
a dictionary of the current sensor’s data
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 sensor
velocity = Velocity()
# place your component at the correct location
velocity.translate(<x>, <y>, <z>)
velocity.rotate(<rx>, <ry>, <rz>)
robot.append(velocity)
# define one or several communication interface, like 'socket'
velocity.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.sensors.velocity.)