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Uli SDK

Report Mobility Specifications

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