SpeedController
A node that controls the tick rate for its child based on current robot speed.
The maximum and minimum replanning rates can be supplied to the node as parameters along with maximum and minimum speed.
The node returns RUNNING when it is not ticking its child. Currently, in the navigation
stack, the SpeedController is used to adjust the rate at which the ComputePathToPose and GoalReached nodes are ticked.
Input Ports
- min_rate
Type
Default
double
0.1
- Description
The minimum rate at which child node can be ticked (hz).
- max_rate
Type
Default
double
1.0
- Description
The maximum rate at which child node can be ticked (hz).
- min_speed
Type
Default
double
0.0
- Description
The minimum robot speed below which the child node is ticked at minimum rate (m/s).
- max_speed
Type
Default
double
0.5
- Description
The maximum robot speed above which the child node is ticked at maximum rate (m/s).
- filter_duration
Type
Default
double
0.3
- Description
Duration (secs) over which robot velocity should be smoothed.
- goal
Type
Default
geometry_msgs::msg::PoseStamped
“{goal}”
- Description
Destination to check. Takes in a blackboard variable, “{goal}” if not specified.
- goals
Type
Default
std::vector<geometry_msgs::msg::PoseStamped>
“{goals}”
- Description
Vector of goals to check. Takes in a blackboard variable, “{goals}” if not specified.
Example
<SpeedController min_rate="0.1" max_rate="1.0" min_speed="0.0" max_speed="0.5" filter_duration="0.3">
<!--Add tree components here--->
</SpeedController>