64.Report Mobility Specifications
Uni-cast, Mobility Specifications service reports the specifications.
Response to: Query Mobility Specifications
ID | Name |
---|---|
H:0x00000001 L: 0x0000023F |
Report Mobility Specifications |
Mobility Specifications Rec | ||
---|---|---|
# | Name | Description |
1 | mobility specification type |
enum: 0=UNKNOWN 1=HOLONOMIC 2=SKID_STEER 3=ACKERMANN |
Holonomic Spec Rec | ||
# | Name | Description |
1 | number of wheels | unsigned byte, number of wheels |
Skid Steer Spec Rec | ||
# | Name | Description |
1 | track separation | unsigned short, meter, distance between the two tracks. |
Akermann Spec Rec | ||
# | Name | Description |
1 | steering angle range | double, radian, the maximum angle positions of the steering wheel. Negative turns left, positive turns right. |
2 | minimum turning radius | double, meter, the radius of the smallest turn the vehicle is able to make. |
3 | wheel separation | double, meter, distance between the centers of the left and right wheels. |
Inertial Spec Rec | ||
# | Name | Description |
1 | maximum forward speed | double, meter per second |
2 | maximum reverse speed | double, meter per second |
3 | maximum rotational speed | double, radian per second |
4 | maximum forward acceleration | double, meter per second square |
5 | maximum reverse acceleration | double, meter per second square |
6 | maximum forward deceleration | double, meter per second square |
7 | maximum reverse deceleration | double, meter per second square |
Platform Spec Rec | ||
# | Name | Description |
1 | platform name | text, human-readable string for the vehicle |
2 | front | double, meter, measure from the vehicle coordinate frame |
3 | back | double, meter, measure from the vehicle coordinate frame |
4 | right | double, meter, measure from the vehicle coordinate frame |
5 | left | double, meter, measure from the vehicle coordinate frame |
6 | bottom | double, meter, measure from the vehicle coordinate frame |
7 | top | double, meter, measure from the vehicle coordinate frame |
8 | wheel base | double, meter, distance between the center of the frontmost wheel and the center of the rearmost wheel. |
9 | static pitch over | double, radian |
10 | static roll over | double, radian |