Motion commander : _set_vel_setpoint
Posted: Mon May 17, 2021 2:39 pm
Hello,
I would like to use the motion commander to set a velocity setpoint composed of specified x, y velocities and an angular rate.
Is it possible to use these two following methods in succession :
motion_commander.start_linear_motion(velocity_x, velocity_y, 0)
motion_commander.start_turn_left(my_rate)
I think that a better way to do it would be to set a unique setpoint composed of my x,y velocities and my angular rate instead of two different setpoints, however _set_vel_setpoint is a private method if i'm not mistaken and there is no public method in the motion commander class that allows to specify at the same time x,y velocities and a rate (there are the start_circle_left that allows to set a x velocity and a rate which depends on a radius or the start_linear_motion that allows to set x,y,z velocities but no rate).
What would be the proper way to do it ?
Best regards.
I would like to use the motion commander to set a velocity setpoint composed of specified x, y velocities and an angular rate.
Is it possible to use these two following methods in succession :
motion_commander.start_linear_motion(velocity_x, velocity_y, 0)
motion_commander.start_turn_left(my_rate)
I think that a better way to do it would be to set a unique setpoint composed of my x,y velocities and my angular rate instead of two different setpoints, however _set_vel_setpoint is a private method if i'm not mistaken and there is no public method in the motion commander class that allows to specify at the same time x,y velocities and a rate (there are the start_circle_left that allows to set a x velocity and a rate which depends on a radius or the start_linear_motion that allows to set x,y,z velocities but no rate).
What would be the proper way to do it ?
Best regards.