API reference

The most commonly used API:

ugv.cmdVelBody(vx,vy,w) # send speeds in body frame
ugv.stop() # stop
allugvs.stop() # stop all ugvs
ugv.position() # return xyz array (m)
ugv.yaw() # return yaw (rad)
timeHelper.time() # return time (s)
timeHelper.sleepForRate(rate) # sleep for rate
timeHelper.sleep(time) # sleep for seconds
timeHelper.plot_data() # plot x-y, yaw-t (sim only)