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ros-industrial / industrial_core

ROS-Industrial core communication packages (http://wiki.ros.org/industrial_core)
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is "dv = current_vel+last_vel " should be modified to "dv = current_vel - last_vel" in industrial_robot_simulator package file #277

Open dbdxnuliba opened 3 years ago

dbdxnuliba commented 3 years ago

in industrial_robot_simulator package the pyhon file 

 def accelerate(self, last_pt, current_pt, current_time, delta_time):
        intermediate_pt = JointTrajectoryPoint()
        #rospy.logerr("debug : enter accelerate() in industrial_robot_simulator")

        for last_joint, current_joint, last_vel, current_vel in zip(last_pt.positions, current_pt.positions, last_pt.velocities, current_pt.velocities):
            delta_x = current_joint-last_joint
            dv = current_vel+last_vel

is "dv = current_vel+last_vel " should be modified to "dv = current_vel - last_vel"

gavanderhoorn commented 3 years ago

From a quick look it looks like you could be right.

Could you submit a PR?

dbdxnuliba commented 2 years ago

but the result about "delta_x = current_joint+last_joint" is better than "delta_x = current_joint-last_joint" may be your raw code is right