velocity-smoother
CommunitySmooths velocity commands for safe stable motion.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Enforces acceleration/deceleration limits on controller commands by acting as a buffer between the Nav2 controller and the robot actuators, reducing jerky motion and mechanical stress.
Core Features & Use Cases
- Rate-limited velocity commands: applies max_accel / max_decel per axis to gradually reach target velocities.
- Open-loop and Closed-loop support: can operate without odometry or read odometry from a specified odom_topic for feedback.
- Smoother integration: effective between /cmd_vel_nav and /cmd_vel_smoothed in Nav2 pipelines to improve stability for differential-drive robots in both real robots and simulations.
Quick Start
Configure the velocity_smoother with your desired limits and launch it in your ROS 2/Nav2 system, wiring controller output to its input and using the smoothed output for actuation.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: velocity-smoother Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#velocity-smoother Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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