Ackermann Driver

12.Ackermann Driver

The Ackermann Driver commands Ackermann mobility system.

Require: core:AccessControl
Inherit from: core:Management

12.1 Service Behavior

12.1.1 State Diagram

  Figure 11 Ackermann Driver State Diagram

12.1.2 State Actions

State Actions
  • Execute requested Ackermann Parameters
  • Report current Ackermann Parameters

12.1.3 Internal Events

Event Parameters Purpose
ieReceiveMessage Message received

12.1.4 Transitions

Transition Trigger Condition Action
A Query Ackermann Parameters Process received messages
B Set Ackermann Parameters Process received messages
C Management exits READY state Reset commanding Ackermann Parameters to safe parameters.

12.2 Protocol

12.2.1 Incoming Message Set

# ID Message
1 H:0x00000001
L: 0x00000220
Query Ackermann Parameter
2 H:0x00000001
L: 0x0000021F
Set Ackermann Parameter

12.2.2 Outgoing Message Set

# ID Message
1 H:0x00000001
L: 0x00000221
Report Ackermann Parameter

12.3 Parameters


    1. CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.
    2. DATATIMEOUT double, timeout in seconds for not receiving Ackermann parameters updates, default=0.5.

12.4 Data


  1. location=ackermannparameter, type=AckermannParameterRec