add velocity limit to goal tolerance #47
Open
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
this is a port of #44 to ROS2 as far as functionality goes, code is very different due to changed interfaces
mikeferguson
commented
Jun 18, 2022
| // Compute distance to stopped | ||
| bool below_velocity_limits = true; | ||
| if (fabs(velocity.linear.x) > velocity_tolerance.linear.x || | ||
| fabs(velocity.angular.z) > velocity_tolerance.angular.z) |
There was a problem hiding this comment.
I'm now thinking this should be implemented differently - there really isn't a good reason we should use the overall goal velocity - these should probably be separate parameters.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
this is a port of #44 to ROS2 as far as functionality goes,
code is very different due to changed interfaces