def __init__(self):
Clearpath.__init__(self)
rospy.loginfo("Using open-loop direct control")
self.linear_scale = rospy.get_param('~linear_scale', 1.0)
self.angular_scale = rospy.get_param('~angular_scale', 2)
rospy.loginfo("Using %f m/s as 100%% output (linear scale)", self.linear_scale)
rospy.loginfo("Using %f rad/s as +/- 100%% (angular scale)", self.angular_scale)
def __init__(self):
Clearpath.__init__(self)
rospy.loginfo("Using open-loop direct control")
self.linear_scale = rospy.get_param('~linear_scale', 1.0)
self.angular_scale = rospy.get_param('~angular_scale', 2)
rospy.loginfo("Using %f m/s as 100%% output (linear scale)",
self.linear_scale)
rospy.loginfo("Using %f rad/s as +/- 100%% (angular scale)",
self.angular_scale)
def __init__(self):
rospy.loginfo("Clearpath Base")
rospy.loginfo("Using closed-loop current control")
# TODO: insert detection here for differential platform
Clearpath.__init__(self)
if self.horizon:
self.max_current = rospy.get_param('~max_current', 26)
self.linear_scale = rospy.get_param('~linear_scale', 1.2)
self.angular_scale = rospy.get_param('~angular_scale', 2)
rospy.loginfo("Using %f m/s as %f A output (linear scale)",
self.linear_scale, self.max_current)
rospy.loginfo("Using %f rad/s as +/- %f A (angular scale)",
self.angular_scale, self.max_current)
def __init__(self):
rospy.loginfo("Clearpath Base")
rospy.loginfo("Using closed-loop current control")
# TODO: insert detection here for differential platform
Clearpath.__init__(self)
if self.horizon:
self.max_current = rospy.get_param('~max_current', 26)
self.linear_scale = rospy.get_param('~linear_scale', 1.2)
self.angular_scale = rospy.get_param('~angular_scale', 2)
rospy.loginfo("Using %f m/s as %f A output (linear scale)",
self.linear_scale, self.max_current)
rospy.loginfo("Using %f rad/s as +/- %f A (angular scale)",
self.angular_scale, self.max_current)
def __init__(self):
Clearpath.__init__(self)
rospy.loginfo("Using closed-loop kinematic control")
self.accel = rospy.get_param('~accel', 2)
rospy.loginfo("Using %d m/s^2 acceleration", self.accel)
def __init__(self):
Clearpath.__init__(self)
rospy.loginfo("Using closed-loop kinematic control")
self.accel = rospy.get_param('~accel', 2)
rospy.loginfo("Using %d m/s^2 acceleration", self.accel)
