INNER CODE UNIT · Python
_CIRCLE_VX
MOLAorg/mola · mola_demos/demos/fake_sensor_publisher.py:55
_CIRCLE_VX = 1.0 # forward speed [m/s]
_CIRCLE_WZ = 0.2 # yaw rate [rad/s]
_TRANSIENT_LOCAL_QOS = QoSProfile(
depth=1,
durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
reliability=QoSReliabilityPolicy.RELIABLE,
)
# ---------------------------------------------------------------------------
# Math helpers
# ---------------------------------------------------------------------------
def _quaternion_from_yaw(yaw):
"""Return (x, y, z, w) for a pure-yaw rotation."""
return 0.0, 0.0, math.sin(yaw / 2), math.cos(yaw / 2)