UBot Velocity Command
机体系下的速度请求。生产者先把自己的坐标约定换成 UE 的，再填写各字段。
| 字段 | 类型 | 蓝图 | 说明 |
|---|---|---|---|
Linear Velocity Meters Per SecondLinearVelocityMetersPerSecond | Vector | 读写 | 机体系线速度，用 UE 的坐标轴（X 前、Y 右、Z 上），单位 m/s。机体会倾斜的接收者（多旋翼）按航向坐标系理解：X、Y 沿当前航向，Z 向上。 |
Angular Velocity Radians Per SecondAngularVelocityRadiansPerSecond | Vector | 读写 | 机体系角速度，用 UE 的坐标轴和旋转方向（+Z 是向右偏航），单位 rad/s。 |
Timestamp SecondsTimestampSeconds | Float (double) | 读写 | 发出指令时的仿真时间，单位秒。 |
SourceSource | Name | 读写 | 来源标签，格式自由，比如 ROS、MCP、Blueprint。 |
Break UBot Velocity Command
Section titled “Break UBot Velocity Command”Break UBot Velocity CommandUBot Velocity CommandLinear Velocity Meters Per SecondAngular Velocity Radians Per SecondTimestamp SecondsSource
把 UBot Velocity Command 拆成线速度、角速度、时间戳和来源。
| 引脚 | 方向 | 类型 | 说明 |
|---|---|---|---|
| UBot Velocity Command | 输入 | UBot Velocity Command结构体 | |
| Linear Velocity Meters Per Second | 输出 | Vector | Body frame in UE axes (X forward, Y right, Z up). Linear in m/s. Receivers whose body tilts (multirotors) read it in the heading frame: X and Y along the current heading, Z up. |
| Angular Velocity Radians Per Second | 输出 | Vector | Body frame in UE axes and UE rotation sense (+Z = yaw to the right). rad/s. |
| Timestamp Seconds | 输出 | Float (double) | uBot sim time at which the command was issued. |
| Source | 输出 | Name | Free-form origin tag, e.g. "ROS", "MCP", "Blueprint". |
Make UBot Velocity Command
Section titled “Make UBot Velocity Command”Make UBot Velocity CommandLinear Velocity Meters Per Second0.0, 0.0, 0.0Angular Velocity Radians Per Second0.0, 0.0, 0.0Timestamp Seconds0.0SourceNoneUBot Velocity Command
用线速度、角速度、时间戳和来源构造一个 UBot Velocity Command。
| 引脚 | 方向 | 类型 | 默认值 | 说明 |
|---|---|---|---|---|
| Linear Velocity Meters Per Second | 输入 | Vector | 0.000000,0.000000,0.000000 | Body frame in UE axes (X forward, Y right, Z up). Linear in m/s. Receivers whose body tilts (multirotors) read it in the heading frame: X and Y along the current heading, Z up. |
| Angular Velocity Radians Per Second | 输入 | Vector | 0.000000,0.000000,0.000000 | Body frame in UE axes and UE rotation sense (+Z = yaw to the right). rad/s. |
| Timestamp Seconds | 输入 | Float (double) | 0.0 | uBot sim time at which the command was issued. |
| Source | 输入 | Name | None | Free-form origin tag, e.g. "ROS", "MCP", "Blueprint". |
| UBot Velocity Command | 输出 | UBot Velocity Command结构体 |