Fixes the wheel shaking bug caused by the swervi gazebo PID controller by adding a simple filter to mitigate spikes in derivative value and help mitigate against sensor noise.
This PR does the following:
Fixes wheel shaking bug by adding simple derivative filter.
Prevents swervi gazebo controller dividing by zero.
Testing steps
Test Case 1
Run roslaunch igvc_gazebo autonav.launch
Zoom in on swerve modules.
Expectation: No evidence of shaking wheels.
Test Case 2
Run roslaunch igvc_gazebo autonav.launch
Run rostopic echo /front_left_effort_controller/command
Expectation: No wildly oscillating effort commands on the /front_left_effort_controller/command topic.
Description
Fixes the wheel shaking bug caused by the swervi gazebo PID controller by adding a simple filter to mitigate spikes in derivative value and help mitigate against sensor noise.
This PR does the following:
Testing steps
Test Case 1
roslaunch igvc_gazebo autonav.launchExpectation: No evidence of shaking wheels.
Test Case 2
roslaunch igvc_gazebo autonav.launchrostopic echo /front_left_effort_controller/commandExpectation: No wildly oscillating effort commands on the
/front_left_effort_controller/commandtopic.Self Checklist
make format