Steer/Force actuator

This actuator reads the values of the steering angle, the engine power and the braking force to drive a car like vehicle. It is meant to work with robots implementing the Blender Vehicle Wrapper, such as the Hummer robot.

Note

Robots implementing the Vehicle Wrapper must be pointing towards their local Y axis. This means the robots will be oriented differently with respect to all other MORSE components

Files

  • Blender: $MORSE_ROOT/data/actuators/steer_force.blend
  • Python: $MORSE_ROOT/src/morse/actuators/steer_force.py

Local data

  • steer: (float) the angle (in radians) of the wheels with respect to the vehicle
  • force: (float) the force applied to the traction wheels. A negative force will make the vehicle move forward. A positive force will make it go backwards.
  • brake: (float) the amount of force applied to the brakes. It opposes the force.

Services

No available services

Applicable modifiers

No available modifiers

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