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Update angular velocity after constraining linear velocity #2165

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Merged
SteveMacenski merged 1 commit into from
Feb 2, 2021
Merged

Update angular velocity after constraining linear velocity #2165

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5 changes: 3 additions & 2 deletions nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -235,9 +235,7 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity
curvature = 2.0 * carrot_pose.pose.position.y / carrot_dist2;
}

// Apply curvature to angular velocity
linear_vel = desired_linear_vel_;
angular_vel = desired_linear_vel_ * curvature;

// Make sure we're in compliance with basic constraints
double angle_to_heading;
Expand All @@ -251,6 +249,9 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity
fabs(lookahead_dist - sqrt(carrot_dist2)),
lookahead_dist, curvature, speed,
costAtPose(pose.pose.position.x, pose.pose.position.y), linear_vel);

// Apply curvature to angular velocity after constraining linear velocity
angular_vel = linear_vel * curvature;
}

// Collision checking on this velocity heading
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