VelocityStampedPublisher QML Type

Publishes geometry_msgs::msg::VelocityStamped messages — This expresses the timestamped velocity vector of a frame 'body_frame_id' in the reference frame 'reference_frame_id' expressed from arbitrary observation frame 'header.frame_id'. More...

• List of all members, including inherited members

Properties

• bodyFrameId : string
• header : header
• referenceFrameId : string
• velocity : twist

Methods

• void publish(velocityStamped msg)

Detailed Description

- If the 'body_frame_id' and 'header.frame_id' are identical, the velocity is observed and defined in the local coordinates system of the body which is the usual use-case in mobile robotics and is also known as a body twist.

VelocityStampedPublisher publishes velocityStamped values to a ROS 2 topic. Set the topic and node properties, then call publish() to send messages.

See also VelocityStampedSubscriber and velocityStamped.

Property Documentation

bodyFrameId : string

The bodyFrameId field value included in the next publish. Setting this property emits bodyFrameIdChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

header : header

The header field value included in the next publish. Setting this property emits headerChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

referenceFrameId : string

The referenceFrameId field value included in the next publish. Setting this property emits referenceFrameIdChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

velocity : twist

The velocity field value included in the next publish. Setting this property emits velocityChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

Method Documentation

void publish(velocityStamped msg)

Publishes velocityStamped msg to the ROS 2 topic set by the topic property. Does nothing if the publisher is not connected.