set_velocity

Signature:

BoosterRobot.set_velocity(vx: float, vy: float, vyaw: float) -> None

Description:

Send planar velocity control command in the robot coordinate frame. Should enter "walk" mode before calling. For initial testing, start with smaller values, see "FAQ".

Parameters:

Parameter	Type	Default	Description
vx	float	Required	Forward/backward linear velocity in m/s, positive is forward. Recommended not to exceed 0.3 m/s for initial testing.
vy	float	Required	Left/right linear velocity in m/s, positive is left.
vyaw	float	Required	Yaw angular velocity around Z-axis in rad/s, positive is counter-clockwise.

Returns:

None

Raises:

None.

Example:

import time
from boosteros.robots.booster import BoosterRobot

robot = BoosterRobot()
robot.set_mode("walk")
try:
    robot.set_velocity(0.2, 0.0, 0.0)
    time.sleep(1.0)
finally:
    robot.set_velocity(0.0, 0.0, 0.0)