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segwayrmp / segway_rmp

ROS package for interfacing with Segway's RMP{50,100,200,400} series robotic platforms.
http://www.ros.org/wiki/segway_rmp
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Software-based Acceleration Limits #4

Closed liangfok closed 12 years ago

liangfok commented 12 years ago

I implemented software-based acceleration limits in the segway_rmp_node. Details of its new parameters are given here: http://pharos.ece.utexas.edu/wiki/index.php/How_to_specify_the_acceleration_limits_of_the_Segway_RMP_50_Robot

I briefly tested it on a Segway RMP 50 and it appears to work, though I admittedly did not have time yet to thoroughly test it.

liangfok commented 12 years ago

One thing I noticed about segway_rmp_node is that you cannot terminate it by typing ctrl-c. Instead, I have to open another terminal, find its pid using "ps ax | grep segway_rmp_node" and then using "sudo kill pid". I was able replicate this problem on both my modified node and the original node that does not support acceleration limits.

wjwwood commented 12 years ago

Hmm, that doesn't seem good, might have a thread that isn't terminating properly. Can you open an issue on github for that?

wjwwood commented 12 years ago

I will read the code tonight and get back to you tomorrow, just want to make sure all of that logic makes sense, and in the mean time if you could test it some more that would be great.

Thanks so much for your contribution!

wjwwood commented 12 years ago

This looks good, merging.

Thanks for your contribution.