Vehicle dynamics #162
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Vehicle dynamics #162
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@michalpelka please review logic (algorithms, correctness) only for now. Primary focus is the SimpleDriveModel |
michalpelka
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Sep 15, 2022
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adamdbrw
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j-rivero
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Quite an important PR - I have added multiple reviewers but please do not feel obliged. |
pijaro
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Sep 22, 2022
Code/Source/RobotControl/Controllers/AckermannController/AckermannControlComponent.cpp
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* Wheel dynamics improvements: - removed turning input negative (instead, set axis and input properly) - wheel radius is now configurable (per axle), defaults to 0.35 meters - drive wheels and steering elements are now computed on activation, instead of each frame - some names have been changed to match the naming convention Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
- Added some documentation for interfaces - Added checks for empty driving and steering elements with warnings - removed hardcoded limits for speed and steering Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
* Created documentation related to Robot Control and Vehicle Model - Updated User Guide: added sections for RC and VM - Updated component lists and links - Updated class diagrams for the Gem and Vehicle Model design.
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
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michalpelka
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Sep 26, 2022
piotr-zyskowski-rai
approved these changes
Sep 27, 2022
j-rivero
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Sep 27, 2022
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Did not find a good place to report this: in the class diagram we have "ChassisConfiguration" and in the code I think it is named "VehicleConfiguration".
Left some minor comments and questions. Overall, as far as my understanding reaches, looks great. It is pretty hard to review such a large PR correctly, sorry if I left something behind.
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
- Improved documentation and diagrams - Removed Buses implementations which were not doing anything Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
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I addressed all the comments. I also added some Editor flair (min/max for user inputs on things like steering angle limit etc.) and removed one unnecessary field. |
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@j-rivero everything should be addressed, you are welcome to take a look and comment / approve. We would like to merge it today. |
pijaro
approved these changes
Sep 28, 2022
I just read about each of the comments, thanks for taking care Adam. Fixes were just fine. Nice PR. |
michalpelka
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Nov 22, 2022
* Vehicle dynamics: - Reworked robot control configurations and buses - Added additional components for handling Twist and AckermannDrive - Replaced in-class behavior with a simple RigidBody controller - Introduced VehicleDynamics classes similar to proposed design - Some utilities are already implemented Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * formatting Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * added reflections, headers Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * vehicle dynamics. Compiles. Added ackermann_msgs dependency Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * vehicle dynamics fixes Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * fixes + manual control Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * merge fixes Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Drive models based on control_toolbox PID implementations Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Speed manual inputs are fixed, added debugs Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Some small tweaks tested against physic scene Signed-off-by: Michał Pełka <michalpelka@gmail.com> Co-authored-by: Pawel Budziszewski <pawel.budziszewski@robotec.ai> * pid configuration and reflection (RobotecAI#189) Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * fix formating after rebase * Added axis of steering and drive to wheel controller component It allows to apply torque for steering and drive in correct direction * Better handling of vehicle input limits and zeroing (RobotecAI#206) * Better handling of vehicle input limits and zeroing * reflect the limits Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Wheel dynamics improvements: (RobotecAI#213) * Wheel dynamics improvements: - removed turning input negative (instead, set axis and input properly) - wheel radius is now configurable (per axle), defaults to 0.35 meters - drive wheels and steering elements are now computed on activation, instead of each frame - some names have been changed to match the naming convention Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Improvements to vehicle dynamics - Added some documentation for interfaces - Added checks for empty driving and steering elements with warnings - removed hardcoded limits for speed and steering Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * fixes of fraction input Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * removed extra empty line: clang formatting Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Error messages, clamp, comments Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * review comments Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Created documentation related to Robot Control and Vehicle Model (RobotecAI#222) * Created documentation related to Robot Control and Vehicle Model - Updated User Guide: added sections for RC and VM - Updated component lists and links - Updated class diagrams for the Gem and Vehicle Model design. * More checks in utilities Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * categories for vd components Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Resolving wheel and steering entities. Fixes RobotecAI#227 (RobotecAI#229) Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * applied review comments Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * typo Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Input limits, remove unnecessary visual entity Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * diagrams updated Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Applied review comments - Improved documentation and diagrams - Removed Buses implementations which were not doing anything Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> Signed-off-by: Michał Pełka <michalpelka@gmail.com> Co-authored-by: Michał Pełka <michalpelka@gmail.com> Co-authored-by: Pawel Budziszewski <pawel.budziszewski@robotec.ai>
michalpelka
added a commit
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Nov 30, 2022
* Vehicle dynamics: - Reworked robot control configurations and buses - Added additional components for handling Twist and AckermannDrive - Replaced in-class behavior with a simple RigidBody controller - Introduced VehicleDynamics classes similar to proposed design - Some utilities are already implemented Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * formatting Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * added reflections, headers Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * vehicle dynamics. Compiles. Added ackermann_msgs dependency Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * vehicle dynamics fixes Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * fixes + manual control Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * merge fixes Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Drive models based on control_toolbox PID implementations Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Speed manual inputs are fixed, added debugs Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Some small tweaks tested against physic scene Signed-off-by: Michał Pełka <michalpelka@gmail.com> Co-authored-by: Pawel Budziszewski <pawel.budziszewski@robotec.ai> * pid configuration and reflection (RobotecAI#189) Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * fix formating after rebase * Added axis of steering and drive to wheel controller component It allows to apply torque for steering and drive in correct direction * Better handling of vehicle input limits and zeroing (RobotecAI#206) * Better handling of vehicle input limits and zeroing * reflect the limits Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Wheel dynamics improvements: (RobotecAI#213) * Wheel dynamics improvements: - removed turning input negative (instead, set axis and input properly) - wheel radius is now configurable (per axle), defaults to 0.35 meters - drive wheels and steering elements are now computed on activation, instead of each frame - some names have been changed to match the naming convention Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Improvements to vehicle dynamics - Added some documentation for interfaces - Added checks for empty driving and steering elements with warnings - removed hardcoded limits for speed and steering Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * fixes of fraction input Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * removed extra empty line: clang formatting Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Error messages, clamp, comments Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * review comments Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Created documentation related to Robot Control and Vehicle Model (RobotecAI#222) * Created documentation related to Robot Control and Vehicle Model - Updated User Guide: added sections for RC and VM - Updated component lists and links - Updated class diagrams for the Gem and Vehicle Model design. * More checks in utilities Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * categories for vd components Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Resolving wheel and steering entities. Fixes RobotecAI#227 (RobotecAI#229) Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * applied review comments Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * typo Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Input limits, remove unnecessary visual entity Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * diagrams updated Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Applied review comments - Improved documentation and diagrams - Removed Buses implementations which were not doing anything Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> Signed-off-by: Michał Pełka <michalpelka@gmail.com> Co-authored-by: Michał Pełka <michalpelka@gmail.com> Co-authored-by: Pawel Budziszewski <pawel.budziszewski@robotec.ai>
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Vehicle Dynamics, following the design document.
Tested and ready.