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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%
==========================================
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
|
↑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
|
↑tried 4 times with this PR version. There are 2 failures but they are not relevant to the changes made by this PR. |
Could you create an issue about the flaky tests? |
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LGTM
I made a issue about the flaky tests #655 |
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*_col
whencolliding==true
.test_safety_limiter2
.master
(sometimes) fails whenvel
== -0.8 or 0.8 in the test.Failure case with
master
on my local environment.