Differential Driver Actuator: Linear and angular speed (V, W) actuator¶
This actuator reads the values of linear and angular speed and
applies them to the robot as speeds for the wheels. It only works
with robots of the type WheeledRobot
, such as the Segway
RMP 400 and the Pioneer 3-DX. The movement of the robot is more
realistic, but also depends on more factors, such as the friction
between the wheels and the surface.
The speeds for the left and right wheels are calculated as:
left_speed = (v - e w) / R right_speed = (v + e w) / R
where:
- v is the linear velocity given as parameter
- w is the angular velocity given as parameter
- e is half of the distance between the left and
right wheels - R is the radius of the wheels
Configuration parameters for Differential Driver Actuator: Linear and angular speed (V, W) actuator¶
No configurable parameter.
Data fields¶
This actuator reads these datafields at each simulation step:
v
(float, initial value:0.0
)- linear velocity in x direction (forward movement) (m/s)
w
(float, initial value:0.0
)- angular velocity (rad/s)
Interface support:
ros
as geometry_msgs/Twist (morse.middleware.ros.motion_vw.TwistReader
)socket
as straight JSON deserialization (morse.middleware.socket_datastream.SocketReader
)yarp
as YarpReader (morse.middleware.yarp_datastream.YarpReader
)pocolibs
as GENPOS_CART_SPEED (morse.middleware.pocolibs.actuators.genpos.GenPosPoster
)moos
as MotionReader (morse.middleware.moos.motion.MotionReader
)
Services for Differential Driver Actuator: Linear and angular speed (V, 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
set_speed(v, w)
(blocking)Modifies v and w according to the parameters
- Parameters
v
: desired linear velocity (meter by second)w
: desired angular velocity (radian by second)
stop()
(blocking)Stop the robot
Internally, it sets (v, w) to (0.0, 0.0)
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
motionvwdiff = MotionVWDiff()
# place your component at the correct location
motionvwdiff.translate(<x>, <y>, <z>)
motionvwdiff.rotate(<rx>, <ry>, <rz>)
robot.append(motionvwdiff)
# define one or several communication interface, like 'socket'
motionvwdiff.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.actuators.v_omega_diff_drive.)