Closed Thazz closed 2 years ago
When applying acceleration/deceleration limits in velocity iterator, one should be looking for difference in velocity magnitude (absolute value).
https://github.com/locusrobotics/robot_navigation/blob/a17dd62fed2fac6a011fe1220308933712e5491d/dwb_plugins/include/dwb_plugins/one_d_velocity_iterator.h#L56-L69
Currently, If the robot is driving backwards and its velocity changes from e.g v0 = -1 m/s to target = -1.5 m/s, deceleration limit is used (as v0 > target), although robot is actually accelerating. The same goes for deceleration.
v0 = -1 m/s
target = -1.5 m/s
v0 > target
I can provide PR if needed.
Makes sense! Please make a PR.
DLu
commented
3 years ago
When applying acceleration/deceleration limits in velocity iterator, one should be looking for difference in velocity magnitude (absolute value).
https://github.com/locusrobotics/robot_navigation/blob/a17dd62fed2fac6a011fe1220308933712e5491d/dwb_plugins/include/dwb_plugins/one_d_velocity_iterator.h#L56-L69
Currently, If the robot is driving backwards and its velocity changes from e.g
v0 = -1 m/stotarget = -1.5 m/s, deceleration limit is used (asv0 > target), although robot is actually accelerating. The same goes for deceleration.I can provide PR if needed.