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UbiquityRobotics / move_basic

A minimal navigation node
BSD 3-Clause "New" or "Revised" License
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max_lateral_rotation and max_angular_velocity parameters not clear and undocumented #74

Closed JanezCim closed 3 years ago

JanezCim commented 3 years ago

Found out that parameter max_angular_velocity is meant for maximum angular velocity, while robot is turning on the spot, while the parameter max_lateral_rotation controls the maximum angular velocity while driving towards goal. This answers this issue but maybe the names of the parameters are a bit unintuitive? The ROS wiki page also doesn't even mention param max_lateral_rotation

suggestion1: new names: max_turning_velocity, max_lateral_velocity suggestion2: we set the max_lateral_velocity = max_turning_velocity as default with nh.param<double>("max_lateral_velocity", maxLateralVelocity, maxTurningVelocity); as this would still lave the user the control over both, but default parameters would be a bit easier to understand.

If we don't rename parameters, we should at least update documentation on ROS wiki page (we have to do that anyway).

dorkamotorka commented 3 years ago

Suggestion1 was implemented in #76