Goto
[Drivers]
A robot controller that drives a robot to a given target. More...
A robot controller that drives a robot to a given target.
- Provides
- interface_position2d
- interface_dio
- Requires
- interface_position2d
- Configuration requests
- None
- Configuration file options
- dist_tol (float)
- Default: DEFAULT_DIST_TOL
- Distance to the target tollerance
- angle_tol (float)
- Default: DEFAULT_ANGLE_TOL
- Angle difference tollerance
- max_dist (float)
- Default: 0.5
- Maximum distance between checkpoints
- debug (integer)
- Default: 0
- Debug
- reactive (integer)
- Default: 0
- Shall we react for stall states?
- forward_enabled (integer)
- Default: 0
- Shall we forward position2d velocity commands?
- early_check (integer)
- Default: 1
- If set to 1, do not wait for newer position data to check if at target
- send_everything (integer)
- Default: 1
- If set to 1, data and commands are sent at once
- max_vel
- Default: 0.7
- Maximum speed forward
- min_vel
- Default: 0.1
- Minimum speed forward
- max_angular_vel
- Default: 45.0
- Maximum rotation speed
- min_angular_vel
- Default: 10.0
- Minimum rotation speed
- Example
driver ( name "goto" provides ["position2d:100" "dio:0"] requires ["position2d:0"] debug 1 reactive 1 )