PID Control of lateral error #45
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ghost
assigned 
rohbotics
requested changes
Feb 23, 2019
| @@ -188,6 +202,8 @@ MoveBasic::MoveBasic(): tfBuffer(ros::Duration(30.0)), | |||
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| obstacle_dist_pub = | |||
| ros::Publisher(nh.advertise<std_msgs::Float32>("/obstacle_distance", 1)); | |||
| errorPub = | |||
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Does Vector3 make sense here?
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Vector3 makes sense for the error, since there is no Vector2. However, adding the commanded rotation in there is bogus, and that information is available from /cmd_vel, so I'll remove it.
src/move_basic.cpp
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| (lateralKd * lateralDiff); | ||
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| // Limit rotation | ||
| if (rotation > lateralMaxRotation) { |
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std::min/std::max for clamping?
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Yes, that's what we used in other places in the file, so I'll change it.
| ROS_WARN("Cannot determine robot pose for linear"); | ||
| continue; | ||
| } | ||
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| tf2::Vector3 travelled = poseOdomInitial.getOrigin() - poseOdom.getOrigin(); | ||
| double distTravelled = travelled.length();; | ||
| tf2::Transform goalInBase = poseOdom * goalInOdom; |
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@rohbotics Thanks for the review. Ready for rereview, thanks. |
rohbotics
approved these changes
Feb 23, 2019
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Adds PID control to rotation to keep linear movement on its intended path.