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>