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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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`computeVelocityCommand` has nested function with the same name. #120

Open Timple opened 2 years ago

Timple commented 2 years ago

This whole function only existed for the sake of the nav_core implementation.

Now that we don't have that legacy anymore. I think there are much better improvements to be made.

No we're calling computeVelocityCommands from the computeVelocityCommands function. It doesn't add any semantics. The 'main' computeVelocityCommands could be broken into functions with better descriptions.

_Originally posted by @Timple in https://github.com/nobleo/path_tracking_pid/pull/115#discussion_r818950303_