mecanum drive controller adding and ported to ros2 #4
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destogl
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Jan 9, 2023
mecanum_drive_controller/test/test_mecanum_drive_controller.hpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.hpp
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mecanum_drive_controller/test/test_mecanum_drive_controller_preceeding.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.hpp
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general changes not any fundamental changes Co-authored-by: Denis Štogl <denis@stoglrobotics.de>
using std instead of boost Co-authored-by: Denis Štogl <denis@stoglrobotics.de>
re-positioned controller_state_publisher_->unlock(); Co-authored-by: Denis Štogl <denis@stoglrobotics.de>
destogl
reviewed
Jan 11, 2023
mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp
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mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp
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mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.hpp
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destogl
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Jan 11, 2023
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Few important things for the future to makes reviews easier:
- always run pre-commit formatters before saying that something is ready for review
- If you get a comment about some pattern, that care that you apply it to all places with similar pattern. Usually, the reviews don't repeat their comments on each iteration of the same issue.
- Please review your code first before saying it is ready for the review:
- make sure there are not uncommended code blocks or if they have to be there add explanation why.
- resolve all TODOs or add qustion about them either in the code or in GitHub so that one know this is open for discussion
Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
destogl
requested changes
Jan 27, 2023
| @@ -0,0 +1,112 @@ | |||
| cmake_minimum_required(VERSION 3.8) | |||
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@Robotgir please check that is change the same as ros-controls#510
Just to be fully aligned later.
mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp
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mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp
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mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp
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| double wz_b_b0_b_; // [rad/s] | ||
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| /// Wheels kinematic parameters [m]: | ||
| double wheels_k_; |
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I would prefer if we would do direct use of this sum. Or we sum them before calculation. Or somehow rename this variable. This is confusing. Do you have ideas for better naming?
mecanum_drive_controller/test/mecanum_drive_controller_preceeding_params.yaml
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mecanum_drive_controller/test/test_load_mecanum_drive_controller.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.hpp
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mecanum_drive_controller/test/test_mecanum_drive_controller_preceeding.cpp
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destogl
reviewed
Jan 27, 2023
mecanum_drive_controller/include/mecanum_drive_controller/visibility_control.h
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Moving to upstream PR |
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