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:
velocityThe 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 Topicsvel_provider/velocity (geometry_msgs/TwistStamped)
- Current velocity of the CPS.
Published Topicsvel_controller/target_velocity (geometry_msgs/Twist)
- The target velocity at which the CPS shall move.
Parameters~loop_rate (real, default: 5.0)
- The frequency in Hz at which to run the control loops.
- 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.