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nobleo / tracking_pid

PID controller following a moving carrot
Apache License 2.0
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maximum /cmd_vel velocity cap limit #10

Open amyjohansson1994 opened 3 years ago

amyjohansson1994 commented 3 years ago

with the current implementation, there no maximum limit on /cmd_vel velocities. So if the pid values are not tuned properly, the output on cmd_vel can reach very high values.

Is there way to limit the maximum output velocities?

Thank you

Timple commented 3 years ago

If the pid values are not tuned properly but the /cmd_vel would be capped, the result would still not be satisfactory. Typically your actuators limit the /cmd_vel anyway :slightly_smiling_face:

If you need this functionality, PR's are welcome!