velocity_control: allow non-persistent initial velocity commands #2265
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Refactor to set model linear and angular velocity commands directly in the OnCmdVel callback. Remove the targetVel member variable and UpdateVelocity method. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Currently the velocity_control system commands velocities in a persistent manner. This change adds a @Persistent attribute (default true) to the //initial_linear and //initial_angular XML tags of the velocity_control system. By setting @Persistent=false, the initial_* values will correspond to initial velocities that may change over time. Any twist values published to the cmd_vel topic will still be interpreted as persistent velocity commands. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Codecov ReportAll modified and coverable lines are covered by tests ✅
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## scpeters/physics_remove_velocity_cmds #2265 +/- ##
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I will use a different approach to set initial velocity for a model |
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🎉 New feature
Specify non-persistent initial velocity
Summary
Currently the
velocity_controlsystem allows specifying initial velocities, but it treats them as persistent velocity commands. This adds a@persistentattribute to the//initial_angularand//initial_linearplugin elements, which can be set to false in order to specify an initial velocity rather than a persistently updated velocity.This pull request builds upon #2228 and targets that branch. This is in draft mode until the example is well-documented and a test is added.
Test it
Run with the
examples/worlds/initial_velocity.sdfexample world and observe different behaviors with different values of the@persistentattribute.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.