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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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Global plan is changed to the controller's liking #86

Closed rokusottervanger closed 2 years ago

rokusottervanger commented 2 years ago

IMO, if the controller is incapable of handling the global plan, it should reject the global plan, not alter it to its liking. This filter_plan call does exactly that. I think we should just check it, and return REJECTED if it does not satisfy the controller's constraints to the global plan.

https://github.com/nobleo/path_tracking_pid/blob/61c6cc828bd98dddd8cc14cbabdd62353a89ad3c/src/controller.cpp#L183-L188