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yujinrobot / yujin_ocs

Yujin Robot's open-source control libraries
http://wiki.ros.org/yujin_ocs
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Replace 진짜 arbitrary thresholds with dynamic thresholds #112

Closed AlexReimann closed 7 years ago

AlexReimann commented 7 years ago

The current arbitrary thresholds (especially for the angular velocity) can leads to the smoother ignoring the feedback most of the time.

This leads to some odd behaviour on our side, so I adjusted the thresholds for the feedback kicking in to be dynamically depending on the acceleration limits and current velocity.

If odometry is used as feedback and the delay is quite big, it kicks in quite often and feels a bit sluggish, but should be ok (the warn message can be disabled with a parameter).

Needs some testing on other platforms (turtlebot?)

stonier commented 7 years ago

Pulling this in...will run it for a while before making the release.