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rst-tu-dortmund / teb_local_planner

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
http://wiki.ros.org/teb_local_planner
BSD 3-Clause "New" or "Revised" License
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saturateVelocity issue in ros2-master #365

Closed stu00608 closed 2 years ago

stu00608 commented 2 years ago

Hello, I'm using ROS2 Galactic and running TEB controller in ros2-master branch (6d782b)

The robot I'm using is a holonomic robot, I found the linear y velocity is over the limit a lot. max_vel_y is 0.25. teb1

So I checked the foxy branch. Apparantly, the issue is because the ratio calculation. Screenshot from 2022-05-03 17-10-53

But it seems been solved in foxy branch. teb2

Then I'm not sure, should I keep develop in ros2-master branch? In this case, I can create a PR and fix that piece. Also, will you guys release a galactic branch?

Thank you!

stu00608 commented 2 years ago

I think the reason to calculate the ratio but not simply limit the velocity at maximum value is because the flag use_proportional_saturation , but I don't see this parameter in rqt_reconfigure, so is it deprecated?

corot commented 2 years ago

This PR solves the problem, right?

If so, I can open the same for all non-fixed branches

stu00608 commented 2 years ago

@corot Yes, that solves the problem, not sure how many branches has this issue but at least in ros2-master.

corot commented 2 years ago

thanks PaRed to noetic and ROS2

Thanks @kenomo for the fix, and @renan028 for the review

stu00608 commented 2 years ago

Thanks!