## [Playerstage-users] SET SPEED FUNCTION FOR MOBILE ROBOTS

 [Playerstage-users] SET SPEED FUNCTION FOR MOBILE ROBOTS From: Shawn Anderson - 2006-09-29 20:36:46 ```I want to set the speed for a robot, but the set speed function needs more information besides the linear velocity (magnitude of velocity). Is there a way to set the speed for a robot, without having to enter a turnrate or any other information? _________________________________________________________________ All-in-one security and maintenance for your PC.  Get a free 90-day trial! http://clk.atdmt.com/MSN/go/msnnkwlo0050000001msn/direct/01/?href=http://www.windowsonecare.com/?sc_cid=msn_hotmail ```

 [Playerstage-users] SET SPEED FUNCTION FOR MOBILE ROBOTS From: Shawn Anderson - 2006-09-29 20:36:46 ```I want to set the speed for a robot, but the set speed function needs more information besides the linear velocity (magnitude of velocity). Is there a way to set the speed for a robot, without having to enter a turnrate or any other information? _________________________________________________________________ All-in-one security and maintenance for your PC.  Get a free 90-day trial! http://clk.atdmt.com/MSN/go/msnnkwlo0050000001msn/direct/01/?href=http://www.windowsonecare.com/?sc_cid=msn_hotmail ```
 Re: [Playerstage-users] SET SPEED FUNCTION FOR MOBILE ROBOTS From: Brian Gerkey - 2006-10-02 18:03:46 ```On Sep 29, 2006, at 1:36 PM, Shawn Anderson wrote: > I want to set the speed for a robot, but the set speed function > needs more information besides the linear velocity (magnitude of > velocity). > Is there a way to set the speed for a robot, without having to > enter a turnrate or any other information? The control space for a velocity-controlled differential drive robot is 2-dimensional: X velocity, theta velocity (an equivalent parameterization is left wheel velocity, right wheel velocity). So to give a command to the robot, you must specify velocity targets for both dimensions. If you want to drive straight forward or backward, set the theta velocity to 0. brian. ```