cmd_vel_mux包从名字就可以推测出它的用途,即进行速度的选择(In electronics, a multiplexer or mux is a device that selects one of several analog or digital input signals and forwards the selected input into a single line).这一功能有时候很有用,比如机器人在自主导航时遇到紧急情况要切换到手动控制模式,这时就要将机器人控制权从自主导…
yocs_velocity_smoother是一个速度.加速度限制器,用来防止robot navigation的速度/转速过快,加速度/快减速过大.Bound incoming velocity messages according to robot velocity and acceleration limits. The velocity smoother nodelet runs together with the kobuki_node to apply robot's velocity…
