Basic RT components and utilities: $title

Basic RT components and utilities 315.12.1

Overview

This component converts data from a joystick to a liner velocity command.

implementation_id	Joystick2Velocity3D
category	example

Data Ports

Input Ports

port name	data type	unit	description
axes	RTC::TimedFloatSeq		status of sticks([-1:1])
buttons	RTC::TimedBooleanSeq		status of buttons

Output Ports

port name	data type	unit	description
vel	RTC::TimedVelocity3D	[m/s],[rad/s]	velocity command

Service Ports

Service Providers

N/A

Service Consumers

N/A

Configuration Variables

name	type	unit	default value	description
debugLevel	int		0	verbose level of debug messages
axesIds	std::vector<int>		0,1,2	indices of sticks which correspond to vx,vy,vz
scalesTranslation	std::vector<double>	[m/s]	1.0,1.0,1.0	coefficients of linear velocities
scalesRotation	std::vector<double>	[m/s]	1.0,1.0,1.0	coefficients of angular velocities

Configuration File

N/A