Documentation Status

cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control

Package Summary

Documented

The 'cob_base_velocity_smoother' reads velocity messages and publishes messages of the same type for "smoothed" velocity to avoid shaking behavior.

cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control

Package Summary

Documented

The 'cob_base_velocity_smoother' reads velocity messages and publishes messages of the same type for "smoothed" velocity to avoid shaking behavior.

cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_cam3d_throttle | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control

Package Summary

Documented

The 'cob_base_velocity_smoother' reads velocity messages and publishes messages of the same type for "smoothed" velocity to avoid shaking behavior.

cob_driver: cob_base_drive_chain | cob_camera_sensors | cob_canopen_motor | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control

Package Summary

Released Continuous integration Documented

The 'cob_base_velocity_smoother' reads velocity messages and publishes messages of the same type for "smoothed" velocity to avoid shaking behavior.

  • Maintainer status: developed
  • Maintainer: Florian Mirus <frm AT ipa.fhg DOT de>
  • Author: Florian Mirus <frm AT ipa.fhg DOT de>
  • License: LGPL
  • Source: git https://github.com/ipa320/cob_driver.git (branch: hydro_release_candidate)
cob_control: cob_base_velocity_smoother | cob_cartesian_controller | cob_collision_velocity_filter | cob_control_mode_adapter | cob_control_msgs | cob_footprint_observer | cob_frame_tracker | cob_model_identifier | cob_obstacle_distance | cob_omni_drive_controller | cob_trajectory_controller | cob_twist_controller

Package Summary

Released Continuous integration Documented

The 'cob_base_velocity_smoother' reads velocity messages and publishes messages of the same type for "smoothed" velocity to avoid shaking behavior.

  • Maintainer status: maintained
  • Maintainer: Benjamin Maidel <bnm AT ipa.fhg DOT de>
  • Author: Florian Mirus <florian.mirus AT gmx DOT net>, Benjamin Maidel <bnm AT ipa.fhg DOT de>
  • License: Apache 2.0
  • Source: git https://github.com/ipa320/cob_control.git (branch: indigo_release_candidate)
Cannot load information on name: cob_base_velocity_smoother, distro: jade, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
cob_control: cob_base_velocity_smoother | cob_cartesian_controller | cob_collision_velocity_filter | cob_control_mode_adapter | cob_control_msgs | cob_footprint_observer | cob_frame_tracker | cob_model_identifier | cob_obstacle_distance | cob_omni_drive_controller | cob_trajectory_controller | cob_twist_controller

Package Summary

Released Continuous integration Documented

The 'cob_base_velocity_smoother' reads velocity messages and publishes messages of the same type for "smoothed" velocity to avoid shaking behavior.

  • Maintainer status: developed
  • Maintainer: Benjamin Maidel <bnm AT ipa.fhg DOT de>
  • Author: Florian Mirus <florian.mirus AT gmx DOT net>, Benjamin Maidel <bnm AT ipa.fhg DOT de>
  • License: Apache 2.0
  • Source: git https://github.com/ipa320/cob_control.git (branch: kinetic_release_candidate)
Cannot load information on name: cob_base_velocity_smoother, distro: lunar, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: cob_base_velocity_smoother, distro: melodic, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

The cob_base_velocity_smoother package provides two implementations for a velocity smoother that both read velocity messages (geometry_msgs::Twist) and then publish messages of the same type for "smoothed" velocity to avoid jerky behavior.

The two nodes available are:

  • cob_base_velocity_smoother

  • velocity_smoother

Hardware Requirements

To use this package you either need a real or a simulated Care-O-Bot (see cob_bringup and cob_bringup_sim respectively).

ROS API

The following states the ROS API for the cob_base_velocity_smoother node.

cob_base_velocity_smoother

The cob_base_velocity_smoother node takes in geometry_msgs/Twist messages from the navigation or teleoperation device and publishes recalculated geometry_msgs/Twist messages to avoid jerky behavior.

Subscribed Topics

input (geometry_msgs/Twist)
  • movement command published by the navigation or teleoperation device.

Published Topics

output (geometry_msgs/Twist)
  • recalculated movement command

Parameters

~circular_buffer_capacity (int, default: 12 for cob3, 6 for raw3)
  • Specifies the capacity of the internal circular buffer (number of saved velocity messages).
~maximal_time_delay (double, default: 4.0 [seconds])
  • Specifies the maximal time delay for saved messages (older messages will be deleted).
~thresh_max_acc (double, default: 0.02 [m/s^2])
  • Specifies the threshold for the maximal allowed acceleration.
~loop_rate (double, default: 30.0 [Hz])
  • Specifies the ros loop rate of the velocity smoother.
~min_input_rate (double, default: 9.0 [Hz])
  • Specifies the minimal input rate that is expected before filling the buffer with zeros.
~maximal_time_delay_to_stop (double, default: 0.1 [seconds])
  • Specifies the maximal time-delay until stopping the robot when there are no incoming messages.

Usage

All hardware configuration is done in the cob_hardware_config package. Parameter files for both nodes have to be placed in "cob_hardware_config/$(env ROBOT)/config/" for each ROBOT.

Wiki: cob_base_velocity_smoother (last edited 2016-02-18 10:17:52 by FelixMessmer)