safety_limiter: make sure to keep margin from obstacles #654
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[234] PASSED on noeticAll tests passed[234] PASSED on melodicAll tests passed |
Codecov Report
@@ Coverage Diff @@
## master #654 +/- ##
==========================================
- Coverage 90.58% 90.56% -0.02%
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Files 61 61
Lines 4556 4558 +2
==========================================
+ Hits 4127 4128 +1
- Misses 429 430 +1
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This reverts commit 4404077.
[235] PASSED on noeticAll tests passed[235] FAILED on melodicTest failed[235] PASSED on melodicAll tests passed[235] PASSED on noeticAll tests passed[235] PASSED on melodicAll tests passed[235] FAILED on noeticTest failed |
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↑tried 3 times with |
[236] PASSED on melodicAll tests passed[236] FAILED on melodicTest failed[236] PASSED on noeticAll tests passed[236] PASSED on melodicAll tests passed[236] FAILED on noeticTest failed[236] PASSED on melodicAll tests passed |
[236] PASSED on noeticAll tests passed |
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↑tried 4 times with this PR version. There are 2 failures but they are not relevant to the changes made by this PR. |
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Could you create an issue about the flaky tests? |
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I made a issue about the flaky tests #655 |
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If (
twist_*dt_) exceeds*_margin_, the robot may not be able to stop further from the collision point than*_margin_. I think that this is because*_col_is the "collision position", but this should be a "one step away from collision position".In this PR,
twist_*dt_is subtracted from*_colwhencolliding==true.test_safety_limiter2.master(sometimes) fails whenvel== -0.8 or 0.8 in the test.Failure case with
masteron my local environment.