control-speed utility sets the speed of each waypoint in the path based on its position in a curve.
turn operation calculates the angle at each waypoint with respect to its adjacent waypoints and assigns the speed according to given maximum lateral acceleration. By passing
control-speed can implement spot turn by outputting an extra waypoint with relative heading and no speed, for each sharp turn in the trajectory.
control-speed decelerate operation moderates the sudden decrease in speed in the trajectory by a given deceleration.
If you need to quickly deploy a bunch services for line-based or fixed-width data over TCP, local sockets, ZeroMQ, etc, now you can use io-topics, a utility in comma. You can deploy services that run continuously or start only in case if there is at least one client (e.g. if they are too resource greedy).
Perhaps, it is not a replacement for a more proper middleware like ROS or simply systemd, but the advantages of io-publish-topics are its light weight, ad-hoc nature, ability to run a mix of transport protocols.
Try the following toy example of io-topics publish:
You also can create - on the fly, if you want - a light-weight subscriber, as in example below. Run publishing as in the example above and then run io-topics cat:
If you would like to suspend your log playback (e.g. for demo purposes, when, e.g. visualising point cloud stream - or any kind of CSV data - or while browsing your data), now you could use csv-play --interactive or csv-play -i, pressing <whitespace> to pause and resume. Try to run the example below:
Press left or down arrow keys to output one record at a time. (Keys for outputting one block at a time: todo.)