Yaw speed and height constraints

[robin-shaun]

Hello, I see that there are constraints for velocity max_veland acceleration max_acc in the launch file. Is there any way to constraint the yaw speed because the large yaw speed may cause VIO failure.

Moreover, I see grid_map/virtual_ceil_height, grid_map/visualization_truncate_height and map_size_z in the launch files. But it seems that they cannot limit the z position setpoint.

[bigsuperZZZX]

First question: the way to constrain yaw speed is trivial, which can be changed here.

Second question: is the "setpoint" refer to the goal you give? There is no way to limit it, you have to take of it yourself.

[robin-shaun]

Thanks a lot. The setpoint is the trajectory given by ego_planner. For example, generally in the indoor simulation, there is no ceiling. If there is no height limit, ego_planner may give a trajectory over the wall, which is not the same as the real world.

[bigsuperZZZX]

Do you mean that the planner outputs some setpoints above the "grid_map/virtual_ceil_height"? It should not happen. First, make sure the "grid_map/virtual_ceil_height" is lower than the "map_size_z". Then, maybe you can set "grid_map/visualization_truncate_height" higher than the "grid_map/virtual_ceil_height" to see how the virtual ceil looks like by visualizing the inflated grid map and check if the planned trajectory can break the ceiling limit.

[robin-shaun]

Ok, I 'll try it~

[bigsuperZZZX]

Hello! If you have no other questions, please close this issue.