Closed awpollon closed 1 year ago
There's a second pair of controllers in "locobot_contoller" that control the rotation to the right pose angle (after the x,y coordinate has been reached).
Tune the gain parameters to prevent oscillation
self.x_vel_pose_controller = LocobotPIDController(KP=0.4, KD=0.1) self.theta_vel_pose_controller = LocobotPIDController(KP=0.4, KD=0.1)
There's a second pair of controllers in "locobot_contoller" that control the rotation to the right pose angle (after the x,y coordinate has been reached).
Tune the gain parameters to prevent oscillation
self.x_vel_pose_controller = LocobotPIDController(KP=0.4, KD=0.1) self.theta_vel_pose_controller = LocobotPIDController(KP=0.4, KD=0.1)