INNER CODE UNIT · Python

_STATIC_YAW

MOLAorg/mola · mola_demos/demos/fake_sensor_publisher.py:47

_STATIC_YAW = math.radians(60.0)

# Moving scenario parameters
_MOVING_V = 1.0        # forward speed [m/s]
_MOVING_A = 2.0        # lateral amplitude [m]
_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,
)

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