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roaldlemmens / morph_teleop

GNU General Public License v3.0
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Velocity smoother not working? #1

Open poorboy44 opened 5 years ago

poorboy44 commented 5 years ago

I'm trying to use the velocity smoother, but the adjusting the parameters in turtlebot_bringup/param/defaults/smoother.yaml seem to have no effect. I believe the velocity smoother may not be integrated properly right now. When I run rqt_graph, I see the topic "teleop_velocity_smoother" is disconnected from the rest of the topics. Reading the comment in the code it seems that the smoother may be expecting different input topic names? 

  <!--  smooths inputs from cmd_vel_mux/input/teleop_raw to cmd_vel_mux/input/teleop -->
  <include file="$(find morph_bringup)/launch/includes/velocity_smoother.launch"/>
roaldlemmens commented 5 years ago

You are right, it's not implemented correctly at this current state. You can look at the turtlebot stack and launch files to change the config to your wishes. I've done some experimenting with my robot and have used velocity commands multiplexer with velocity smoother, similar to the turtlebot package. I've not had the time yet to implement the safety controller, with velocity mux and smoother. You are off course free to submit a pull request ;). Hopefully in the near future I will have some more time to update this project.