Fix uninitialized acceleration limit, and add unit tests to TricycleDrive plugin#84
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josephduchesne merged 6 commits intomasterfrom Jan 17, 2023
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| ros::spinOnce(); | ||
| } | ||
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| // TODO: Check odom is 0 linear, 0 angular |
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Does this TODO still apply?
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| // directly set the Twist message for velocity input | ||
| geometry_msgs::Twist cmd_vel; | ||
| cmd_vel.angular.x = 0; //m/s |
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Should this be linear.x = 0?
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| // rotate front wheel for 1 seconds | ||
| cmd_vel.angular.z = 0.5; // rad/s, but the limit is 0.2m/s |
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// rad/s, but the limit is 0.2 rad/s
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Just this one comment (the units at the end should be rad/s) otherwise PR looks good
| } | ||
| EXPECT_NEAR(0.2, odom.twist.twist.linear.x, 0.01); // verify that we're being capped at 0.2m/s | ||
| EXPECT_NEAR(0, odom.twist.twist.angular.z, 0.01); | ||
| EXPECT_NEAR(12.2, odom.pose.pose.position.x, 0.01); // should have driven 0.5m from the start |
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// should have driven 0.2 m
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| EXPECT_NEAR(0.0, odom.twist.twist.linear.x, 0.01); | ||
| EXPECT_NEAR(0, odom.twist.twist.angular.z, 0.01); | ||
| EXPECT_NEAR(12.2, odom.pose.pose.position.x, 0.01); // should have driven 0.5m from the start |
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// should have driven 0.2 m
| ros::spinOnce(); | ||
| } | ||
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| // TODO: Check odom is 0 linear, 0 angular |
| ros::spinOnce(); | ||
| } | ||
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| // TODO: Check odom is 0 linear, 0 angular |
| // front wheel should have rotated to 0.2 radians, but we didn't move | ||
| EXPECT_NEAR(0.0, odom.twist.twist.linear.x, 0.01); | ||
| EXPECT_NEAR(0.0, odom.twist.twist.angular.z, 0.01); | ||
| EXPECT_NEAR(12.0, odom.pose.pose.position.x, 0.01); // should have driven 0.5m from the start |
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// should not have moved from the start
avidbots-kenneth
approved these changes
May 17, 2022
avidbots-cameron
approved these changes
Oct 25, 2022
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