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yujinrobot / yujin_ocs

Yujin Robot's open-source control libraries
http://wiki.ros.org/yujin_ocs
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[smoother] potentially invalid first "last command" when not using velocity feedback #95

Open bit-pirate opened 8 years ago

bit-pirate commented 8 years ago

When no velocity feedback is used, it looks like the last_cmd_vel is not valid until the smoother did one spin. That is, last_cmd_vel is after start up 0 and afterwards what ever the last command was.

This could result into a strange first smoothing result.

bit-pirate commented 8 years ago

FYI @corot

@AlexReimann not important for us right now, since we usually use odometry feedback.

AlexReimann commented 8 years ago

We don't use odometry feedback usually because the long execution delay..