rg_get_vel_srv

SERVICE - rg_get_vel_srv

Provided by:

• rg_services.cpp
• rg_services_py.py

Used by:

• rg_controller.cpp
• rg_controller_py.py

Semantic

This service message is used for obtaining the linear velocity towards the point. Only linear plananr twists without angular velocity are considered.

See rg_services_py.py (function rg_get_vel_callback) or rg_services.cpp (function rg_get_velocity_callback) for more details about the performed computation (very simple).

Service code

# service file name 'rg_check_target_srv'
 
# actual position
geometry_msgs/Point x
 
# target position
geometry_msgs/Point xt
 
---
 
# the twist to send to 'cmd_vel'
geometry_msgs/Twist vel