SLAMN-313 SLAMN-445 : Adds desired velocity comp based on velocity feedback

ZebraDevs / robot_controllers

Robot control infrastructure

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SLAMN-313 SLAMN-445 : Adds desired velocity comp based on velocity feedback #29

Closed briancairl closed 7 years ago

briancairl commented 7 years ago

Still needs tuning and some decision as to what to do about constants. etc.

briancairl commented 7 years ago

!set-reviewer @dbking77

briancairl commented 7 years ago

!label software, enhancement, needs review

briancairl commented 7 years ago

@dbking77 I've made changes such the max_linear_acceleration limit is scaled back when the difference between measured and desired linear velocity becomes high. However, this seems to have two major side-effects of its own:

Initial swerviness on startup (wheel torque limits are balance; I'm not sure why this is the case)
Turning stickiness before reaching desired velocity seems worse

briancairl commented 7 years ago

@dbking77 I made one more commit which fixes some of the above mentions and doesn't use the acceleration limits. The only downside is it relies on holding state in the limiter, which might not be great but hard too avoid since there is a limit being imposed in the value desired_linear_velocity. The amount that the desired_linear_velocity is limited by is being published as a Float64 message for now, but maybe a separate Info message type would be good.

briancairl commented 7 years ago

Closed by #30