Open Debjoy10 opened 4 years ago
Thoda drift hai still, I think due to the motion in the idle time when the path is recomputed.
Also, remove unneeded CEM files?
It doesn't work really well right now. Too many changes needed.
Check how this version works on the simulator and revert.
Drift calculation is a bit weird. It sometime doesn't replan till a lot of drift and sometimes replan with very little drift. Also, why is replanning so explicit? The vehicle stops and then restarts kinda. Need to fix somehow. Maybe when replanning, consider velocity and position sometime in future as initial? A better solution would be to replan in a parallel thread so that movement isn't affected.
A temporary solution is to set simpause when replanning.
@archit120
Adding noise in velocity commands to simulate drift for first 1-2 iters. (May have to modify threshold drift to suit simulation)