Closed Thazz closed 3 years ago
Hey @Thazz, I agree with what you're saying. There's basically two ways to do it.
TrajectoryGenerator
plugin. I'd probably go with the latter since it seems the most flexible, but either could work.
Does that help?
Thanks @DLu
I've chosen the "new TrajectoryGenerator
" approach and it does it's job well.
Hey @Thazz Have you added a constraint parameter for the returns or have you come up with a solution for it(acc_lim_cent) ? I want to do the same and if you have solution can you share it with me?
It would be nice to have an option to limit robot's velocity during turns, as currently robot doesn't decrease its
vel_x
value when turning. My question is where it would be better to apply these limits (e.gacc_lim_cent
):computeNewVelocity()
function in trajectory generator (as this is wherex
,y
andtheta
acceleration limits are currently applied).Edit: Looking a little bit further, my guess is that it would be best to add
acc_limit_cent
toKinematicParameters
class and use this limit inXYThetaIterator::iterateToValidVelocity()
.