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VelocityStateDriver

Description

The Velocity State Driver allows for low level control of platform mobility. This service does not imply any particular domain type such ground, air, surface, or underwater vehicles, but describes mobility in six degrees of freedom using velocity commands relative to the vehicle's coordinate system. The function of the Velocity State Driver service is to control the desired linear and angular velocity of a mobile platform. The Velocity State Driver takes the desired velocity as measured with respect to the vehicle coordinate system defined in Section 3.1. This service also allows the client to set acceleration limits. The SetVelocityCommand provides the capability to set the current velocity command, set the maximum allowed velocity values, set the minimum allowed velocity values and set the default velocity command, by setting the appropriate command type in the message.

Messages

The VelocityStateDriver service uses the following messages.

Internal Events

  • None