This package depends on the following message definitions:

The following library packages of the swarm behaviors library are required:

The following packages of the sensing and actuation library are required:

  • *_vel_provider
  • *_vel_controller



The velocity library provides velocity related functionalities. These include retrieval of current velocity, computation of relative velocity, computation of velocity to reach a certain waypoint, and setting the actuators velocity.

Subscribed Topics

vel_provider/velocity (geometry_msgs/TwistStamped)
  • Current velocity of the CPS.

Published Topics

vel_controller/target_velocity (geometry_msgs/Twist)
  • The target velocity at which the CPS shall move.


~loop_rate (real, default: 5.0)
  • The frequency in Hz at which to run the control loops.
~queue_size (integer, default: 1)
  • The size of the message queue used for publishing and subscribing to topics.


This work is supported by the European Commission through the CPSwarm H2020 project under grant no. 731946.

Wiki: swarm_behaviors_velocity (last edited 2020-01-08 07:50:22 by MichaSende)