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naturerobots / move_base_flex

Move Base Flex: a backwards-compatible replacement for move_base
https://uos.github.io/mbf_docs/
BSD 3-Clause "New" or "Revised" License
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Implement the getRobotVelocity function #187

Open q576333 opened 4 years ago

q576333 commented 4 years ago

Hi everyone Now, I try to implement my own local planner, so I need the actual robot velocity feedback. Therefore I try to contribute getRobotVelocity function in RobotInformation class. But I see the highlight in this function comment is "TODO implement and filter tf data to compute velocity.". What's the meaning in this sentence: "filter tf data to compute velocity"? Does it mean using the amount of change in two consecutive pose(from map to base_link) to find the robot speed? Why not direct subscribe the /odom topic to get velocity feedback?

q576333 commented 4 years ago

I have already prepared PR. In addition, I have confused why we need two getRobotPose function? One in the RobotInformation class, another in the mbf_utility namespace. I think getRobotVelocity function encounters the same situation.

corot commented 4 years ago

I think yes, that's what the TODO means. But Subscribing to odom is a better option, for sure. I would do this way.

As for getRobotPose. the one in RobotInformation is a wrapper for the one in mbf_utility. Probably you should use the one in RobotInformation (actually there's A THIRD version on AbstractNavigationServer but I'll remove it).

Btw, if you and implement getRobotVelocity method to get the velocity from odom topic, the second parameter look_back_duration doesn't make sense; feel free to remove it

@spuetz , thoughts?