Velocity State Sensor

5.Velocity State Sensor

The Velocity State Sensor service reports the velocities of the mobility system.

Require: none
Inherit from: none

5.1 Service Behavior

5.1.1 State Diagram

  Figure 4 Velocity State Sensor State Diagram

5.1.2 State Actions

State Actions
  • Report velocities of the mobility base system.

5.1.3 Internal Events

Event Parameters Purpose
ieReceiveMessage Message received

5.1.4 Transitions

Transition Trigger Condition Action
A ieReceiveMessage Process received messages

5.2 Protocol

5.2.1 Incoming Message Set

# ID Message
1 H:0x00000001
Query Velocity State

5.2.2 Outgoing Message Set

# ID Message
1 H:0x00000001
L: 0x00000208
Report Velocity State

5.3 Parameters

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

5.4 Data


  1. location= velocitystate, type= VelocityStateRec