Pure pursuit ackermann vehicles controller #71
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Signed-off-by: ddengster <ed.fan@osrfoundation.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Morgan Quigley <morgan@osrfoundation.org>
Signed-off-by: Morgan Quigley <morgan@osrfoundation.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Morgan Quigley <morgan@osrfoundation.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Morgan Quigley <morgan@osrfoundation.org>
#68) * Slotcar pursues a lookahead point on its path. Add display markers for Ignition. Signed-off-by: Tan Chian Fern <chianfern@openrobotics.org> * Add a short lifetime to waypoint markers Signed-off-by: Tan Chian Fern <chianfern@openrobotics.org> * New velocity compute function for Ackermann and differential drive Signed-off-by: Tan Chian Fern <chianfern@openrobotics.org> * Fix slowdown when turning, draw waypoint markers on path request, and cleanup. Signed-off-by: Tan Chian Fern <chianfern@openrobotics.org> * Handle very small displacements in velocity compute function and clear markers. Signed-off-by: Tan Chian Fern <chianfern@openrobotics.org> * Increase close_enough when holding and rotating towards next waypoint to accommodate slight translation due to rotation. Signed-off-by: Tan Chian Fern <chianfern@openrobotics.org> * Cleanup Signed-off-by: Tan Chian Fern <chianfern@openrobotics.org> * Fix slotcar not moving in gz due to very small velocity changes not taking effect. Signed-off-by: Tan Chian Fern <chianfern@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
aaronchongth
approved these changes
Apr 6, 2022
This was referenced Apr 7, 2022
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New feature implementation
Implemented feature
This PR is a combined work of @codebot and @chianfern and reworks the ackermann controller to use a simpler approach based on pure pursuit.
Since it's a full refactor it will address pre-existing issues, specifically will close #53 and close #55
Implementation description
Together with the pure pursuit logic this PR adds:
<display_markers>in the slotcar plugin tag.compute_ds(closes Replace compute_ds with compute_desired_rate_of_change #42 )