Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fix open-loop odometry in case of ref timeout #1454

Merged
merged 4 commits into from
Jan 1, 2025
Merged

Fix open-loop odometry in case of ref timeout #1454

Changes from 2 commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
ff8bb57
Fix OL odometry in case of ref timeout
christophfroehlich Dec 29, 2024
a16b7a7
Update steering_controllers_library/src/steering_controllers_library.cpp
destogl Jan 1, 2025
1e899c7
Reformat 0.0
christophfroehlich Jan 1, 2025
bf597bf
Merge branch 'master' into fix/steering_lib/open_loop
christophfroehlich Jan 1, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 5 additions & 5 deletions steering_controllers_library/src/steering_controllers_library.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -378,16 +378,16 @@ controller_interface::return_type SteeringControllersLibrary::update_and_write_c

if (!std::isnan(reference_interfaces_[0]) && !std::isnan(reference_interfaces_[1]))
{
// store (for open loop odometry) and set commands
last_linear_velocity_ = reference_interfaces_[0];
last_angular_velocity_ = reference_interfaces_[1];

const auto age_of_last_command = time - (*(input_ref_.readFromRT()))->header.stamp;
const auto timeout =
age_of_last_command > ref_timeout_ && ref_timeout_ != rclcpp::Duration::from_seconds(0);

// store (for open loop odometry) and set commands
last_linear_velocity_ = timeout ? 0.0 : reference_interfaces_[0];
last_angular_velocity_ = timeout ? 0.0 : reference_interfaces_[1];

auto [traction_commands, steering_commands] = odometry_.get_commands(
last_linear_velocity_, last_angular_velocity_, params_.open_loop,
reference_interfaces_[0], reference_interfaces_[1], params_.open_loop,
christophfroehlich marked this conversation as resolved.
Show resolved Hide resolved
params_.reduce_wheel_speed_until_steering_reached);

if (params_.front_steering)
Expand Down
Loading