Closed roncapat closed 11 months ago
rclcpp::Time last_time = get_clock()->now(); while (true) { rclcpp::Time time = get_clock()->now(); double effort = pid.computeCommand(position_desi_ - currentPosition(), (time - last_time).nanoseconds()); last_time = time; }
@bmagyar may I ask a brief review?
@christophfroehlich @destogl tagging you since I saw you involved in recent commits :) this should be a very quick thing IMHO. Could you give a look please?