Closed pbeeson closed 5 years ago
The motion model used assumes linear acceleration between waypoint.
@pbeeson, thanks for the addition. +1 from me. @gavanderhoorn, do you want to have a look? Otherwise, I'll merge in a couple of days.
Late, but :+1: .
Thanks @pbeeson.
The current ROS-I sim just linearly interpolates as a simulator. When velocities are provided in addition to positions, a better approach can be used that more accurately reflects the real robot motion.
See Section 2.7.2 from here: http://ros.informatik.uni-freiburg.de/roswiki/attachments/motoman_driver/MotoRos_EDS.pdf
This pull request uses this motion model when velocities are present, and defaults to the linear interpolation when they are not. This has been tested and works well.