ros2_interfaces_humble/robot_controllers_msgs/msg/
diff_drive_limiter_params.rs

1use serde::{Deserialize, Serialize};
2
3#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
4pub struct DiffDriveLimiterParams {
5    pub max_linear_velocity: f64,
6    pub max_linear_acceleration: f64,
7    pub max_angular_velocity: f64,
8    pub max_angular_acceleration: f64,
9    pub max_wheel_velocity: f64,
10    pub track_width: f64,
11    pub angular_velocity_limits_linear_velocity: bool,
12    pub scale_to_wheel_velocity_limits: bool,
13}
14
15impl Default for DiffDriveLimiterParams {
16    fn default() -> Self {
17        DiffDriveLimiterParams {
18            max_linear_velocity: 0.0,
19            max_linear_acceleration: 0.0,
20            max_angular_velocity: 0.0,
21            max_angular_acceleration: 0.0,
22            max_wheel_velocity: 0.0,
23            track_width: 0.0,
24            angular_velocity_limits_linear_velocity: false,
25            scale_to_wheel_velocity_limits: false,
26        }
27    }
28}
29
30impl ros2_client::Message for DiffDriveLimiterParams {}