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VelocityClient

Inherits from: ROSClient A ROS client for handling velocity messages. This class inherits from ROSClient and provides functionality for publishing and receiving velocity messages over ROS topics.

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VelocityClient

VelocityClient(client_dict, agent_dict)
Initialize the velocity client.
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Arguments
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client_dict (dict)
required
Configuration dictionary for the client
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agent_dict (dict), optional
defaults to None. Dictionary of agent parameters. Defaults to None.

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publish_velocity

VelocityClient.publish_velocity(linear_velocity, angular_velocity)
Publish a velocity message.
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Arguments
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linear_velocity (array-like)
required
Linear velocity as [x, y, z]
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angular_velocity (array-like)
required
Angular velocity as [x, y, z]

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process_latest_msg

VelocityClient.process_latest_msg()
Process the latest received velocity message. Gets the latest message and updates the stored velocities. If an agent is connected, calls moveByVelocity with the new velocities.
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Returns

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get_linear_velocity

VelocityClient.get_linear_velocity()
Get the current linear velocity.
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Returns
Current linear velocity as [x, y, z]

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get_angular_velocity

VelocityClient.get_angular_velocity()
Get the current angular velocity.
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Returns
Current angular velocity as [x, y, z]