INNER CODE UNIT · Python

_MOVING_OMEGA

MOLAorg/mola · mola_demos/demos/fake_sensor_publisher.py:52

_MOVING_OMEGA = 0.5    # lateral frequency [rad/s]

# Circle scenario parameters
_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):

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