search

gkouros / rsband_local_planner

A ROS move_base local planner plugin for Car-Like robots with Ackermann or 4-Wheel-Steering.
BSD 3-Clause "New" or "Revised" License
161 stars 51 forks source link

Can't get velocity out of fuzzylite #10

Closed maxlein closed 6 years ago

maxlein commented 6 years ago

Hi,

I am experimenting with your controller but I don't get any velocities out of it. See here an output:

Ea: 23.224841, Eo: 28.349788, Ep: 5.055443, Ey: 1.993565 [ INFO] [1515160524.377827833, 8.000000000]: vel: 0.000, front steering angle: 14.324, ready: 1, status:

I didn't change any of your fuzzy rules, all default. Steering angle looks plausible, but I don't know what I am missing.

maxlein commented 6 years ago

You have a nasty bug here: if (pnh_->getParam("fuzzy_rules/rear_steering_deviation_rules", speedRules_)) ROS_WARN("Failed to load rear steering deviation fuzzy rules!");

gkouros commented 6 years ago

Hi maxlein,

Thank you for pointing out the bug. I already pushed a fix. Do you still get zero velocity after the fix?

In case, the issue persists, please specify the ros distribution you use so that I can investigate the cause.

maxlein commented 6 years ago

No thanks, this fixed it. But a bit more documentstion would be nice as your planner seems to be one of a few if not the only planner that really works with a car. Although car abilities like turning radius are not taken into account by the planner, only after the controller's output.