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 |
---|---|
core:Management.READY |
|
DEFAULT |
|
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
-
- CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.
- DATATIMEOUT double, timeout in seconds for not receiving Ackermann parameters updates, default=0.5.
12.4 Data
Get:
- location=ackermannparameter, type=AckermannParameterRec