Initial velocity can be specified in config#677
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| self.declare_parameter("use_velodyne", False) | ||
| self.declare_parameter("velodyne_rate", 10.0) | ||
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| velocity.velocity_limit.linear.x = self.get_parameter("max_linear_x").value | ||
| velocity.velocity_limit.linear.y = self.get_parameter("max_linear_y").value | ||
| velocity.velocity_limit.angular.z = self.get_parameter("max_angular_z").value | ||
| self.handle_max_vel(velocity, SetVelocity.Response()) |
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@heuristicus may I suggest we split out the necessary functionality from SpotROS2.handle_max_vel rather than faking a service call?
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| self.declare_parameter("max_linear_x", 1.0) | ||
| self.declare_parameter("max_linear_y", 1.0) | ||
| self.declare_parameter("max_angular_z", 1.0) |
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@heuristicus hmm, I'm inclined to suggest that if no velocity caps are specified, no velocity caps should be enforced. 1 m/s, 1 rad/s limits seem reasonable but arbitrary.
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Change Overview
Allows the default starting velocity of the robot to be specified from the configuration or parameters. This is convenient when operating with specific restrictions so that they can be put in place in the configuration rather than having to be manually specified by the user each time the driver boots.
Testing Done
Started the robot with velocity values of 0.5 and confirmed that it moves slower.