Pacer's Gait Planner

Variables common to all Pacer plugins

• real-time-factor: set to 1 to run at the same rate as a controller (maximum update rate); set to 2 to run every other controller update, etc.
• priority: an integer value (from 0 to 10), prioritization given to smaller integers. Plugins with higher priorities are run first; plugins with identical priorities are run asynchronously in a nondeterministic ordering.

Existing Pacer plugins

drive-robot

This plugin allows one to drive a robot using (dx,dy,dtheta) commands or using waypoints.

Relevant variables:

• max-forward-speed
• max-strafe-speed
• max-turn-speed
• waypoints: a list of way points in the x,y plane for the robot to move through

Data set:

• SE2_command: the gait-planner plugin