-
ROS index logo ROS Index
  1. Home
  2. Packages
  3. cras_relative_positional_controller
 
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.

cras_relative_positional_controller package from cras_relative_positional_controller repo

cras_relative_positional_controller

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ctu-vras/cras_relative_positional_controller.git
VCS Type git
VCS Version master
Last Updated 2023-08-29
Dev Status DEVELOPED
CI status
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Action server for moving the robot with relative positional commands

Additional Links

Maintainers

  • Martin Pecka

Authors

  • Martin Pecka
README.md

cras_relative_positional_controller

A simple action-based controller that executes a relative change of robot pose without any feedback, just issuing proper cmd_vel commands to the robot.

Each pose change request has maximum velocity specified, and this controller just these maximum velocity commands until the position is changed enough.

Please note that this controller doesn’t use feedback. So if you instruct it to go 1 meter forward with max. velocity 0.1 m/s, it just issues a 0.1 m/s velocity command for 10 seconds and then stops. If the robot hits a wall in the meantime, this controller won’t know and care.

Nodes

relative_position_controller

This node starts the action server (on topics derived from the resloved name of this node).

Published topics

  • ~cmd_vel (geometry_msgs/Twist): Velocity commands for the robot.

Action server

  • <NODE_NAME> (cras_relative_positional_controller/RelativeMove): The action for moving the robot.

Parameters

  • max_lin_vel (float, default 1.0 m/s): Maximum linear velocity (this caps velocities requested in the action).
  • max_ang_vel (float, default pi/2 rad/s): Maximum angular velocity (this caps velocities requested in the action).
  • max_age (float, default 3.0 s): If the received goal is older than this number of seconds, it will be rejected (this prevents executing stale/delayed actions).
CHANGELOG

Changelog for package cras_relative_positional_controller

2.0.0 (2023-08-30)

  • Renamed to cras_relative_positional_controller.
  • Contributors: Martin Pecka

1.0.1 (2023-06-19)

  • Noetic compatibility.
  • Initial commit
  • Contributors: Martin Pecka

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cras_relative_positional_controller at Robotics Stack Exchange

No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.