mteb/BrightProRoboticsRetrieval huggingface dataset:
|  This component holds the filepath to the source from which an entity is
created. For example, it can be used to store the file path of a model's
SDFormat file.  More...  
  
using  |  [ Static
](namespaceignition_1_1gazebo_1_1components.html#ab33648dd6e2b315da9ebc3c7825517f1)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) <
bool, class StaticTag >  
|  A component used to indicate that a model is static (i.e. not moveable).
More...  
  
using  |  [ Temperature
](namespaceignition_1_1gazebo_1_1components.html#ae89e126606b1edb03a5ee73e96b909c4)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
math::Temperature
](https://ignitionrobotics.org/api/math/6.8/classignition_1_1math_1_1Temperature.html)
, class TemperatureTag >  
|  A component that stores temperature data in Kelvin.  More...  
  
using  |  [ ThermalCamera
](namespaceignition_1_1gazebo_1_1components.html#a2b4aea244b0e9f1d277c04c1ae865bfb)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) <
sdf::Sensor, class ThermalCameraTag, [ serializers::SensorSerializer
](namespaceignition_1_1gazebo_1_1serializers.html#a28b4f8b3bfa52760faec77e3c30686eb)
>  
|  A component type that contains a Thermal camera sensor, sdf::Sensor,
information.  More...  
  
using  |  [ ThreadPitch
](namespaceignition_1_1gazebo_1_1components.html#a5d971354591252162a5d84e5f5452da7)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) <
double, class ThreadPitchTag >  
|  A component used to store the thread pitch of a screw joint.  More...  
  
using  |  [ Transparency
](namespaceignition_1_1gazebo_1_1components.html#a24040ee76defbcd4b56dc98d48bd0f2a)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) <
float, class TransparencyTag >  
|  A component used to indicate an entity's transparency value e.g. visual
entities. Value is in the range from 0 (opaque) to 1 (transparent).  More...
DetachableJointTag, [ serializers::DetachableJointInfoSerializer
](classignition_1_1gazebo_1_1serializers_1_1DetachableJointInfoSerializer.html)
>  
|  A component that identifies an entity as being a detachable joint. It also
contains additional information about the joint.  More...  
  
using  |  [ ExternalWorldWrenchCmd
](namespaceignition_1_1gazebo_1_1components.html#abe045fbc985d6dc5d6e01ff02fad96d7)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
msgs::Wrench
](https://ignitionrobotics.org/api/msgs/6.2/classignition_1_1msgs_1_1Wrench.html)
, class ExternalWorldWrenchCmdTag, [ serializers::MsgSerializer
](classignition_1_1gazebo_1_1serializers_1_1MsgSerializer.html) >  
|  A component type that contains the external wrench to be applied on an
entity expressed in the world frame and represented by [
ignition::msgs::Wrench
](https://ignitionrobotics.org/api/msgs/6.2/classignition_1_1msgs_1_1Wrench.html)
. Currently this is used for applying wrenches on links. Although the
msg::Wrench type has a force_offset member, the value is currently ignored.
Instead, the force is applied at the link origin. The wrench uses SI units (N
for force and Nâ m for torque).  More...  
  
using  |  [ Geometry
](namespaceignition_1_1gazebo_1_1components.html#a328ff3e2ce4d1cd4df6115390f2ece4e)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) <
sdf::Geometry, class GeometryTag, [ serializers::GeometrySerializer
](namespaceignition_1_1gazebo_1_1serializers.html#a12b083c5faaa8bc89d0113037c3cbf75)
>  
|  This component holds an entity's geometry.  More...  
  
using  |  [ GpuLidar
](namespaceignition_1_1gazebo_1_1components.html#addd750b2c6d8d2c32390572b3337ed19)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) <
sdf::Sensor, class GpuLidarTag, [ serializers::SensorSerializer
](namespaceignition_1_1gazebo_1_1serializers.html#a28b4f8b3bfa52760faec77e3c30686eb)
>  
|  A component type that contains a GPU Lidar sensor, sdf::Lidar, information.
More...  
  
using  |  [ Gravity
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
NoData
](namespaceignition_1_1gazebo_1_1components.html#a1bc8946395bec54053d52820e79c5ad3)
, class LinkTag >  
|  A component that identifies an entity as being a link.  More...  
  
using  |  [ LogicalAudioSource
](namespaceignition_1_1gazebo_1_1components.html#a9c543a6519b10ed43f788e75fe2d45a1)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
logical_audio::Source
](structignition_1_1gazebo_1_1logical__audio_1_1Source.html) , class
LogicalAudioSourceTag, [ serializers::LogicalAudioSourceSerializer
](classignition_1_1gazebo_1_1serializers_1_1LogicalAudioSourceSerializer.html)
>  
|  A component that contains a logical audio source, which is represented by [
logical_audio::Source
](structignition_1_1gazebo_1_1logical__audio_1_1Source.html "Properties of a
logical audio source. A source also has a pose, which can be stored as a
component of...") .  More...  
  
using  |  [ LogicalAudioSourcePlayInfo
](namespaceignition_1_1gazebo_1_1components.html#a5a0201d548660923d00701e4bac58a4a)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
logical_audio::SourcePlayInfo
](structignition_1_1gazebo_1_1logical__audio_1_1SourcePlayInfo.html) , class
LogicalAudioSourcePlayInfoTag, [
serializers::LogicalAudioSourcePlayInfoSerializer
](classignition_1_1gazebo_1_1serializers_1_1LogicalAudioSourcePlayInfoSerializer.html)
>  
|  A component that contains a logical audio source's playing information,
which is represented by [ logical_audio::SourcePlayInfo
](structignition_1_1gazebo_1_1logical__audio_1_1SourcePlayInfo.html "A
source's playing information. Useful for keeping track of when to start/stop
playing a source...") .  More...  
  
using  |  [ LogicalCamera
](namespaceignition_1_1gazebo_1_1components.html#a3cdf41667d71e17216a5c59019a43ad7)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) <
sdf::ElementPtr, class LogicalCameraTag >  
|  TODO(anyone) Substitute with sdf::LogicalCamera once that exists? This is
, class LevelTag >  
|  This component identifies an entity as being a level.  More...  
  
using  |  [ LevelBuffer
](namespaceignition_1_1gazebo_1_1components.html#ab21374dd5c7bd20f14096e38d4d24bbb)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) <
double, class LevelBufferTag >  
|  A component that holds the buffer setting of a level's geometry.  More...  
  
using  |  [ LevelEntityNames
](namespaceignition_1_1gazebo_1_1components.html#a62ca4c8f340e8085bb727b2961b62712)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
std::set ](http://en.cppreference.com/w/cpp/container/set.html) < [
std::string ](http://en.cppreference.com/w/cpp/string/basic_string.html) >,
class LevelEntityNamesTag, [ serializers::LevelEntityNamesSerializer
](classignition_1_1gazebo_1_1serializers_1_1LevelEntityNamesSerializer.html) >  
|  A component that holds a list of names of entities to be loaded in a level.
More...  
  
using  |  [ Lidar
](namespaceignition_1_1gazebo_1_1components.html#a1193dc9d783301fd047378cbf8037278)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) <
sdf::Sensor, class LidarTag, [ serializers::SensorSerializer
](namespaceignition_1_1gazebo_1_1serializers.html#a28b4f8b3bfa52760faec77e3c30686eb)
>  
|  A component type that contains a Lidar sensor, sdf::Lidar, information.
More...  
  
using  |  [ Light
](namespaceignition_1_1gazebo_1_1components.html#ace2004cd1adcacef8cc16a5dd636af1a)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) <
sdf::Light, class LightTag, [ serializers::LightSerializer
](namespaceignition_1_1gazebo_1_1serializers.html#a9c3b4b9cfa738abf3ca2b304aa0cde37)
>  
|  This component contains light source information. For more information on
lights, see [ SDF's Light element
](http://sdformat.org/spec?ver=1.6&elem=light) .  More...  
  
using  |  [ LinearAcceleration
](namespaceignition_1_1gazebo_1_1components.html#acff53e757937857410e7fbb259c04549)
.  More...  
  
using  |  [ AngularVelocityCmd
](namespaceignition_1_1gazebo_1_1components.html#a017199549e1159d49d0cd84b84323238)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
math::Vector3d
](https://ignitionrobotics.org/api/math/6.8/namespaceignition_1_1math.html#a1f05093f5ee1a9ecdd54476792e4c206)
, class AngularVelocityCmdTag >  
|  A component type that contains the commanded angular velocity of an entity,
in its own frame, represented by [ ignition::math::Vector3d
](https://ignitionrobotics.org/api/math/6.8/namespaceignition_1_1math.html#a1f05093f5ee1a9ecdd54476792e4c206)
.  More...  
  
using  |  [ Atmosphere
](namespaceignition_1_1gazebo_1_1components.html#a26e63d8c7b48701791f78f0eacf9a345)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) <
sdf::Atmosphere, class AtmosphereTag, [ serializers::AtmosphereSerializer
](namespaceignition_1_1gazebo_1_1serializers.html#a10a3b14186c2193df377c7245134bed2)
>  
|  This component holds atmosphere properties of the world.  More...  
  
using  |  [ AxisAlignedBox
](namespaceignition_1_1gazebo_1_1components.html#a1df47dd662e811de578a58bcb3fd29c0)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
ignition::math::AxisAlignedBox
](https://ignitionrobotics.org/api/math/6.8/classignition_1_1math_1_1AxisAlignedBox.html)
, class AxisAlignedBoxTag, [ serializers::AxisAlignedBoxSerializer
](namespaceignition_1_1gazebo_1_1serializers.html#a1c9a4c135632322e20e854fa73b90ed0)
>  
|  A component type that contains axis aligned box, [
ignition::math::AxisAlignedBox
](https://ignitionrobotics.org/api/math/6.8/classignition_1_1math_1_1AxisAlignedBox.html)
, information. The axis aligned box is created from collisions in the entity.
More...  
  
using  |  [ BatterySoC
](namespaceignition_1_1gazebo_1_1components.html#a68c8513c2b876f38fd80b17d518ec34e)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) <
float, class BatterySoCTag >  
using  |  [ Camera
](namespaceignition_1_1gazebo_1_1components.html#a4a6e54d44c9a0180ca734b18052f2042)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
std::string ](http://en.cppreference.com/w/cpp/string/basic_string.html) ,
class PhysicsEnginePluginTag, [ serializers::StringSerializer
](classignition_1_1gazebo_1_1serializers_1_1StringSerializer.html) >  
|  Holds the physics engine shared library.  More...  
  
using  |  [ Pose
](namespaceignition_1_1gazebo_1_1components.html#ae94648628ab828a5d51ad780ea55bc7c)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
ignition::math::Pose3d
](https://ignitionrobotics.org/api/math/6.8/namespaceignition_1_1math.html#a507d73d4a494a03691fb87691dd07215)
, class PoseTag >  
|  A component type that contains pose, [ ignition::math::Pose3d
](https://ignitionrobotics.org/api/math/6.8/namespaceignition_1_1math.html#a507d73d4a494a03691fb87691dd07215)
, information.  More...  
  
using  |  [ RenderEngineGuiPlugin
](namespaceignition_1_1gazebo_1_1components.html#a094e0772b8b4f571a9004c7fe27a19d8)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
std::string ](http://en.cppreference.com/w/cpp/string/basic_string.html) ,
class RenderEngineGuiPluginTag, [ serializers::StringSerializer
](classignition_1_1gazebo_1_1serializers_1_1StringSerializer.html) >  
|  Holds the render engine gui shared library.  More...  
  
using  |  [ RenderEngineServerPlugin
](namespaceignition_1_1gazebo_1_1components.html#ae3b67196b2a5db46df7764eb01d46386)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
std::string ](http://en.cppreference.com/w/cpp/string/basic_string.html) ,
class RenderEngineServerPluginTag, [ serializers::StringSerializer
](classignition_1_1gazebo_1_1serializers_1_1StringSerializer.html) >  
|  Holds the render engine server shared library.  More...  
  
using  |  [ RgbdCamera
](namespaceignition_1_1gazebo_1_1components.html#aebb9d09c6424f9fae6e63dca1f5d875d)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) <
sdf::Sensor, class RgbdCameraTag, [ serializers::SensorSerializer
](namespaceignition_1_1gazebo_1_1serializers.html#a28b4f8b3bfa52760faec77e3c30686eb)
>  
|  A component type that contains a RGBD camera sensor, sdf::Camera,
](namespaceignition_1_1gazebo_1_1serializers.html#a28b4f8b3bfa52760faec77e3c30686eb)
>  
|  A component type that contains a magnetometer sensor, sdf::Magnetometer,
information.  More...  
  
using  |  [ Material
](namespaceignition_1_1gazebo_1_1components.html#aa9957518360de83ea27ec05fd832684a)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) <
sdf::Material, class MaterialTag, [ serializers::MaterialSerializer
](namespaceignition_1_1gazebo_1_1serializers.html#a5a885dc39b33287985b4b17edff55c48)
>  
|  This component holds an entity's material.  More...  
  
using  |  [ Model
](namespaceignition_1_1gazebo_1_1components.html#a81c45336dd134e03c5a29b34beb293db)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
NoData
](namespaceignition_1_1gazebo_1_1components.html#a1bc8946395bec54053d52820e79c5ad3)
, class ModelTag >  
|  A component that identifies an entity as being a model.  More...  
  
using  |  [ Name
](namespaceignition_1_1gazebo_1_1components.html#a501c2b6aeb7302e017055ef1a442faab)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
std::string ](http://en.cppreference.com/w/cpp/string/basic_string.html) ,
class NameTag, [ serializers::StringSerializer
](classignition_1_1gazebo_1_1serializers_1_1StringSerializer.html) >  
|  This component holds an entity's name. The component has no concept of
scoped names nor does it care about uniqueness.  More...  
  
using  |  [ NoData
](namespaceignition_1_1gazebo_1_1components.html#a1bc8946395bec54053d52820e79c5ad3)
= [ std::add_lvalue_reference
](http://en.cppreference.com/w/cpp/types/add_reference.html) < void >  
|  Convenient type to be used by components that don't wrap any data. I.e.
they act as tags and their presence is enough to infer something about the
entity.  More...  
  
using  |  [ ParentEntity
](namespaceignition_1_1gazebo_1_1components.html#a6e4fc60b44eb0e0cf7fdfee1f1b93b86)
* [ Research team resolves decades-long problem in microscopy ](https://phys.org/news/2024-04-team-decades-problem-microscopy.html)
  * [ Smoother surfaces make for better accelerators ](https://phys.org/news/2024-04-smoother-surfaces.html)
  * [ Research reveals a surprising topological reversal in quantum systems ](https://phys.org/news/2024-04-reveals-topological-reversal-quantum.html)
* [ Code  ](/JenniferBuehler/gazebo-pkgs)
  * [ Issues  ](/JenniferBuehler/gazebo-pkgs/issues)
  * [ Pull requests  ](/JenniferBuehler/gazebo-pkgs/pulls)
  * [ Actions  ](/JenniferBuehler/gazebo-pkgs/actions)
  * [ Projects  ](/JenniferBuehler/gazebo-pkgs/projects)
  * [ Wiki  ](/JenniferBuehler/gazebo-pkgs/wiki)
  * [ Security  ](/JenniferBuehler/gazebo-pkgs/security)
  * [ Insights  ](/JenniferBuehler/gazebo-pkgs/pulse)
* [ Code  ](/ros-controls/ros2_controllers)
  * [ Issues  120  ](/ros-controls/ros2_controllers/issues)
  * [ Pull requests  30  ](/ros-controls/ros2_controllers/pulls)
  * [ Actions  ](/ros-controls/ros2_controllers/actions)
  * [ Projects  0  ](/ros-controls/ros2_controllers/projects)
  * [ Security  ](/ros-controls/ros2_controllers/security)
  * [ Insights  ](/ros-controls/ros2_controllers/pulse)
* [ Code  ](/ros-controls/ros2_controllers)
  * [ Issues  ](/ros-controls/ros2_controllers/issues)
  * [ Pull requests  ](/ros-controls/ros2_controllers/pulls)
  * [ Actions  ](/ros-controls/ros2_controllers/actions)
  * [ Projects  ](/ros-controls/ros2_controllers/projects)
  * [ Security  ](/ros-controls/ros2_controllers/security)
  * [ Insights  ](/ros-controls/ros2_controllers/pulse)
[ ![@samehmohamed88](https://avatars.githubusercontent.com/u/2354387?s=52&v=4)
](/samehmohamed88) [
![@bmagyar](https://avatars.githubusercontent.com/u/3524577?s=52&v=4)
](/bmagyar) [
![@Timple](https://avatars.githubusercontent.com/u/5036851?s=52&v=4)
](/Timple) [
![@harderthan](https://avatars.githubusercontent.com/u/13160765?s=52&v=4)
](/harderthan) [
![@tonynajjar](https://avatars.githubusercontent.com/u/14879660?s=52&v=4)
](/tonynajjar) [
![@DiuLaMaX](https://avatars.githubusercontent.com/u/53355440?s=52&v=4)
](/DiuLaMaX) [
![@tomlogan501](https://avatars.githubusercontent.com/u/56969577?s=52&v=4)
](/tomlogan501) [
![@hishambaharom](https://avatars.githubusercontent.com/u/113874406?s=52&v=4)
](/hishambaharom)
[ ![Logo](../../../../_static/logo_ros-controls.png) ](../../../../index.html)
  * [ Getting Started ](../../../getting_started/getting_started.html)
  * [ ros2_control ](../../../ros2_control/doc/index.html)
  * [ ros2_controllers ](../../doc/controllers_index.html)
    * [ Guidelines and Best Practices ](../../doc/controllers_index.html#guidelines-and-best-practices)
    * [ Controllers for Mobile Robots ](../../doc/controllers_index.html#controllers-for-mobile-robots)
      * [ Ackermann Steering Controller ](../../ackermann_steering_controller/doc/userdoc.html)
      * [ Bicycle Steering Controller ](../../bicycle_steering_controller/doc/userdoc.html)
      * [ Differential Drive Controller ](../../diff_drive_controller/doc/userdoc.html)
      * [ Steering Controllers Library ](../../steering_controllers_library/doc/userdoc.html)
      * Tricycle Controller 
        * Velocity commands 
        * Other features 
        * Parameters 
      * [ Tricycle Steering Controller ](../../tricycle_steering_controller/doc/userdoc.html)
    * [ Controllers for Manipulators and Other Robots ](../../doc/controllers_index.html#controllers-for-manipulators-and-other-robots)
    * [ Broadcasters ](../../doc/controllers_index.html#broadcasters)
    * [ Common Controller Parameters ](../../doc/controllers_index.html#common-controller-parameters)
  * [ Demos ](../../../ros2_control_demos/doc/index.html)
  * [ Command Line Interface ](../../../ros2_control/ros2controlcli/doc/userdoc.html)
  * [ Simulator Integrations ](../../../simulators/simulators.html)
  * [ Migration Guides ](../../../migration/migration.html)
  * [ Supported Robots ](../../../supported_robots/supported_robots.html)
  * [ Resources ](../../../resources/resources.html)
  * [ Contributing ](../../../contributing/contributing.html)
  * [ Project Ideas for GSoC 2024 ](../../../project_ideas.html)
  * [ Acknowledgements ](../../../acknowledgements/acknowledgements.html)
__ [ ROS2_Control: Rolling ](../../../../index.html)
  * [ ](../../../../index.html)
  * [ ros2_controllers ](../../doc/controllers_index.html)
  * tricycle_controller 
  * [ Edit on GitHub ](https://github.com/ros-controls/ros2_controllers/blob/master/tricycle_controller/doc/userdoc.rst)
* * *
**You're reading the documentation for a development version. For the latest
released version, please have a look at[ Iron
](../../../../../iron/doc/ros2_controllers/tricycle_controller/doc/userdoc.html)
. **
#  tricycle_controller  
Controller for mobile robots with a single double-actuated wheel, including
traction and steering. An example is a tricycle robot with the actuated wheel
[ ![Logo](../../../../_static/logo_ros-controls.png) ](../../../../index.html)
  * [ Getting Started ](../../../getting_started/getting_started.html)
  * [ ros2_control ](../../../ros2_control/doc/index.html)
  * [ ros2_controllers ](../../doc/controllers_index.html)
    * [ Guidelines and Best Practices ](../../doc/controllers_index.html#guidelines-and-best-practices)
    * [ Controllers for Mobile Robots ](../../doc/controllers_index.html#controllers-for-mobile-robots)
      * Ackermann Steering Controller 
        * Parameters 
      * [ Bicycle Steering Controller ](../../bicycle_steering_controller/doc/userdoc.html)
      * [ Differential Drive Controller ](../../diff_drive_controller/doc/userdoc.html)
      * [ Steering Controllers Library ](../../steering_controllers_library/doc/userdoc.html)
      * [ Tricycle Controller ](../../tricycle_controller/doc/userdoc.html)
      * [ Tricycle Steering Controller ](../../tricycle_steering_controller/doc/userdoc.html)
    * [ Controllers for Manipulators and Other Robots ](../../doc/controllers_index.html#controllers-for-manipulators-and-other-robots)
    * [ Broadcasters ](../../doc/controllers_index.html#broadcasters)
    * [ Common Controller Parameters ](../../doc/controllers_index.html#common-controller-parameters)
  * [ Demos ](../../../ros2_control_demos/doc/index.html)
  * [ Command Line Interface ](../../../ros2_control/ros2controlcli/doc/userdoc.html)
  * [ Simulator Integrations ](../../../simulators/simulators.html)
  * [ Migration Guides ](../../../migration/migration.html)
  * [ Supported Robots ](../../../supported_robots/supported_robots.html)
  * [ Resources ](../../../resources/resources.html)
  * [ Contributing ](../../../contributing/contributing.html)
  * [ Project Ideas for GSoC 2024 ](../../../project_ideas.html)
  * [ Acknowledgements ](../../../acknowledgements/acknowledgements.html)
__ [ ROS2_Control: Rolling ](../../../../index.html)
  * [ ](../../../../index.html)
  * [ ros2_controllers ](../../doc/controllers_index.html)
  * ackermann_steering_controller 
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