Movement

In this section you can define features related to how your robot moves.

The current implementation is based on the Twist ROS 2 message type.

Caution

This is only for robots with a mobile robot base and therefore can’t be used for robot arms that can’t move on their own from their position.

It is recommended that information about a robot arm’s movement be parsed from its robot description (URDF).

Defaults

movement {
    ros2_topic "/cmd_vel"

    linear {
        x #false {
            max_velocity #nan
            min_velocity #nan
            max_acceleration #nan
            max_deceleration #nan
            max_acceleration_reverse #nan // If not set, -max_acceleration will be used.
            max_deceleration_reverse #nan // If not set, -max_deceleration will be used.
            max_jerk #nan
            min_jerk #nan
        }
        y #false {
            max_velocity #nan
            min_velocity #nan
            max_acceleration #nan
            max_deceleration #nan
            max_acceleration_reverse #nan // If not set, -max_acceleration will be used.
            max_deceleration_reverse #nan // If not set, -max_deceleration will be used.
            max_jerk #nan
            min_jerk #nan
        }
        z #false {
            max_velocity #nan
            min_velocity #nan
            max_acceleration #nan
            max_deceleration #nan
            max_acceleration_reverse #nan // If not set, -max_acceleration will be used.
            max_deceleration_reverse #nan // If not set, -max_deceleration will be used.
            max_jerk #nan
            min_jerk #nan
        }
    }

    angular {
        x #false {
            max_velocity #nan
            min_velocity #nan
            max_acceleration #nan
            max_deceleration #nan
            max_acceleration_reverse #nan // If not set, -max_acceleration will be used.
            max_deceleration_reverse #nan // If not set, -max_deceleration will be used.
            max_jerk #nan
            min_jerk #nan
        }
        y #false {
            max_velocity #nan
            min_velocity #nan
            max_acceleration #nan
            max_deceleration #nan
            max_acceleration_reverse #nan // If not set, -max_acceleration will be used.
            max_deceleration_reverse #nan // If not set, -max_deceleration will be used.
            max_jerk #nan
            min_jerk #nan
        }
        z #false {
            max_velocity #nan
            min_velocity #nan
            max_acceleration #nan
            max_deceleration #nan
            max_acceleration_reverse #nan // If not set, -max_acceleration will be used.
            max_deceleration_reverse #nan // If not set, -max_deceleration will be used.
            max_jerk #nan
            min_jerk #nan
        }
    }
}

Description of Options

ros2_topic

A ROS 2 topic on which messages of type TwistStamped should be published in order to move the robot.

Type: string

movement {
    ros2_topic "/cmd_vel"
}

Enabling/Disabling Movement on Specific Axes

Use x #true/x #false to enable/disable movement on the x-axis.

Type: boolean

movement {
    linear {
        x #false {
        }
    }
}

max_velocity

Type: double

Constraints: <=0.0 or NaN

movement {
    linear {
        x #false {
            max_velocity #nan
        }
    }
}

min_velocity

Type: double

Constraints: >=0.0 or NaN

movement {
    linear {
        x #false {
            min_velocity #nan
        }
    }
}

max_acceleration

Maximum acceleration in the positive direction of the axis.

Type: double

Constraints: >=0.0 or NaN

movement {
    linear {
        x #false {
            max_acceleration #nan
        }
    }
}

max_deceleration

Maximum deceleration in the positive direction of the axis.

Type: double

Constraints: <=0.0 or NaN

movement {
    linear {
        x #false {
            max_deceleration #nan
        }
    }
}

max_acceleration_reverse

Maximum acceleration in the negative direction of the axis.

Type: double

Constraints: <=0.0 or NaN

movement {
    linear {
        x #false {
            max_acceleration_reverse #nan // If not set, -max_acceleration will be used.
        }
    }
}

max_deceleration_reverse

Maximum deceleration in the negative direction of the axis.

Type: double

Constraints: >=0.0 or NaN

movement {
    linear {
        x #false {
            max_deceleration_reverse #nan // If not set, -max_deceleration will be used.
        }
    }
}

Example for Differential Drive Robot

movement {
    ros2_topic "/cmd_vel"

    linear {
        x #true {
            max_velocity 1.0
            min_velocity -1.0
        }
    }

    angular {
        z #true {
            max_velocity 1.0
            min_velocity -1.0
        }
    }
}