Fix steering controllers library kinematics

ros-controls / ros2_controllers

Generic robotic controllers to accompany ros2_control

https://control.ros.org

Apache License 2.0

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Fix steering controllers library kinematics #1150

Closed christophfroehlich closed 4 days ago

christophfroehlich commented 1 month ago

A follow-up of #1149 to fix bugs of the steering library, namely

in open-loop mode, zero steering angle was used for IK calculation discussed in #954 (my fix breaks API of the library, but it had no information about open_loop. I could duplicate the get_commands() method to get_commands_open_loop(), but that would break ABI too?)
wrong wheelspeed was used (traction on steering wheel, instead of other axle was assumed)
Improve odometry of overdetermined measurements. use nonlinear dependency from wheel speed to calculate linear velocity (ideal) vs the old linear average:

This should finally fix #937 #933 and #789

mergify[bot] commented 2 weeks ago

This pull request is in conflict. Could you fix it @christophfroehlich?

christophfroehlich commented 2 weeks ago

fe2ba4b0354805523cc42442909902011533f722:

$ colcon test --packages-select steering_controllers_library ackermann_steering_controller bicycle_steering_
controller tricycle_steering_controller
Starting >>> steering_controllers_library
Finished <<< steering_controllers_library [0.38s]          
Starting >>> ackermann_steering_controller
Starting >>> bicycle_steering_controller
Starting >>> tricycle_steering_controller
Finished <<< ackermann_steering_controller [0.93s]                                                                                                 
Finished <<< bicycle_steering_controller [0.97s]
Finished <<< tricycle_steering_controller [0.96s]

Summary: 4 packages finished [1.76s]