Skip to content
RobothecaBeta

Software

kobuki_velocity_smoother

By Kobuki, from github.com/kobuki-base/kobuki_velocity_smoother (opens in a new tab)

  • Navigation and mapping
  • Tool
  • BSD-3-Clause

A ROS 2 package that smooths velocity commands (geometry Twist messages) by limiting linear and angular speed and acceleration. Useful for mobile robots such as the Kobuki base.

  • Stale. No commit in 12 months: the newest is from 21 May 2025.
Open on GitHub (opens in a new tab)

Facts

GitHub stars
22read on 6 Nov 2026
Last update
21 May 2025Newest commit on devel
Maintenance
Staleno commit in 12 months
Difficulty
Beginner

Checked on GitHub on 6 Nov 2026.

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) at commit 543f3f1 (opens in a new tab), on 16 Oct 2026. A license text Robotheca's reader does not know: a person at Robotheca set it on 9 Nov 2026.

Commercial use
Yes

Overview

What it does: Robotheca's summary

  • Applies limits to linear and angular components of both speed and acceleration.
  • Outputs smoothed velocity commands on a topic, computed and published at a fixed rate.
  • Parameters for acceleration, speed limits, deceleration factor and publishing frequency can be set; most are dynamically reconfigurable.
  • Optional feedback from odometry or actual commanded velocities can improve results, for example when a multiplexer switches controllers or the robot fails to reach commanded speed.
  • Linear and angular velocities are scaled proportionally to keep a constant rotation radius.
  • If the input goes quiet while the last command was nonzero, a zero-velocity command is introduced after a short timeout.

Written by Robotheca from the project's README (opens in a new tab) at commit 543f3f1, not by its creator.

The README

Read the README on GitHub (opens in a new tab)

Files and versions

Facts read at commit 543f3f1

Robotheca never hosts the code: each link goes to the creator's own page.

Use it

How to install it, in the creator's words: The project's README (opens in a new tab)

Robotheca doesn't review code. Read it before running it.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.