Controller no longer changes plan.

nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity

Apache License 2.0

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Controller no longer changes plan. #111

Closed lewie-donckers closed 2 years ago

lewie-donckers commented 2 years ago

Controller no longer changes the plan. It now checks it and rejects it if it doesn't like it. This error is propagated back to ROS. Fixes #86 .

Rayman commented 2 years ago

Nice work!

Since this changes the behavior of the controller, should we do an integration test on harvey?

lewie-donckers commented 2 years ago

Nice work!

Since this changes the behavior of the controller, should we do an integration test on harvey?

Good idea. But you'll have to ask someone else to do that. :-)

Rayman commented 2 years ago

I've search for that specific error message in the bagfiles that I have on my laptop. I couldn't find it so harvey should not be affected by this change

time grepros 'key=Not all poses of path are used' --topic /rosout *

real    6m40.212s
user    6m8.666s
sys 0m10.115s

I'm now running it on all bagfiles of February, just to be sure