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GlobalWaypointDriver

Description

The function of the Global Waypoint Driver is to move the platform given a single target waypointand desired travel speed. A single waypoint is provided via the Set Global Waypoint message. The waypoint remains unchanged until a new Set Global Waypoint message is received. A waypoint consists of the desired position and orientation of the platform. Another commanded input consists of the desired travel speed. The desired travel speed remains unchanged unless a new Set Travel Speed Message is received. The travel speed may then be changed at any time during waypoint navigation.

Messages

The GlobalWaypointDriver service uses the following messages.

Internal Events

  • None