Velocity Client

VelocityClient

Inherits from: ROSClient

A ROS client for handling velocity messages.

This class inherits from ROSClient and provides functionality for publishing and receiving velocity messages over ROS topics.

VelocityClient

VelocityClient(client_dict, agent_dict)

Initialize the velocity client.

Arguments

client_dict (dict) · required

Configuration dictionary for the client

agent_dict (dict), optional

defaults to None. Dictionary of agent parameters. Defaults to None.

publish_velocity

VelocityClient.publish_velocity(linear_velocity, angular_velocity)

Publish a velocity message.

Arguments

linear_velocity (array-like) · required

Linear velocity as [x, y, z]

angular_velocity (array-like) · required

Angular velocity as [x, y, z]

process_latest_msg

VelocityClient.process_latest_msg()

Process the latest received velocity message. Gets the latest message and updates the stored velocities. If an agent is connected, calls moveByVelocity with the new velocities.

Returns

get_linear_velocity

VelocityClient.get_linear_velocity()

Get the current linear velocity.

Returns

Current linear velocity as [x, y, z]

get_angular_velocity

VelocityClient.get_angular_velocity()

Get the current angular velocity.

Returns

Current angular velocity as [x, y, z]