AUTO-763 fix smoother accel decel#19
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doisyg merged 2 commits intobackport_nav_smoother_timeoutfrom Apr 11, 2023
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| double v_component_max; | ||
| double v_component_min; | ||
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| // Accelerating if magnitude of v_cmd is above magnitude of v_curr | ||
| // and if v_cmd and v_curr have the same sign (i.e. speed is NOT passing through 0.0) | ||
| // Deccelerating otherwise | ||
| if (v_curr * v_cmd >= 0.0) { | ||
| if (abs(v_cmd) >= abs(v_curr)) { | ||
| v_component_max = accel / smoothing_frequency_; | ||
| v_component_min = -accel / smoothing_frequency_; | ||
| } else { | ||
| v_component_max = -decel / smoothing_frequency_; | ||
| v_component_min = decel / smoothing_frequency_; | ||
| } | ||
| } else { | ||
| v_component_max = -decel / smoothing_frequency_; | ||
| v_component_min = decel / smoothing_frequency_; | ||
| } |
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Suggested change
| double v_component_max; | |
| double v_component_min; | |
| // Accelerating if magnitude of v_cmd is above magnitude of v_curr | |
| // and if v_cmd and v_curr have the same sign (i.e. speed is NOT passing through 0.0) | |
| // Deccelerating otherwise | |
| if (v_curr * v_cmd >= 0.0) { | |
| if (abs(v_cmd) >= abs(v_curr)) { | |
| v_component_max = accel / smoothing_frequency_; | |
| v_component_min = -accel / smoothing_frequency_; | |
| } else { | |
| v_component_max = -decel / smoothing_frequency_; | |
| v_component_min = decel / smoothing_frequency_; | |
| } | |
| } else { | |
| v_component_max = -decel / smoothing_frequency_; | |
| v_component_min = decel / smoothing_frequency_; | |
| } | |
| double v_component_max = -decel / smoothing_frequency_; | |
| double v_component_min = decel / smoothing_frequency_; | |
| // Accelerating if magnitude of v_cmd is above magnitude of v_curr | |
| // and if v_cmd and v_curr have the same sign (i.e. speed is NOT passing through 0.0) | |
| // Deccelerating otherwise | |
| if (v_curr * v_cmd >= 0.0 && abs(v_cmd) >= abs(v_curr)) { | |
| v_component_max = accel / smoothing_frequency_; | |
| v_component_min = -accel / smoothing_frequency_; | |
| } |
Above reads a little better for me as it shows there is one well defined case to ever accelerate at a glance.
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Reads better but less efficient, v_component_max / v_component_min are computed twice ~50% of the time
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Mirror of ros-navigation#3529
To test:
ros2 launch arri_bringup twist_pipeline.launch.pyedited with (low max linear accel):
Generate twist on
/cmd_vel_protectedwith:ros2 run rqt_robot_steering rqt_robot_steeringObserve output with plotjuggler (test config: smoother_test.zip )
