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[STEERING] Add missing tan call for ackermann #1117

Merged
merged 2 commits into from
Jun 19, 2024
Merged

[STEERING] Add missing tan call for ackermann #1117

merged 2 commits into from
Jun 19, 2024

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qinqon
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@qinqon qinqon commented May 6, 2024

The steering library is missing a call to calculate tangent from steering pos at ackermann code.

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qinqon commented May 6, 2024

@saikishor FYI

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saikishor suggested changes May 6, 2024
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@qinqon It would be great if you can also update the docs with some references to the actual math, so we can avoid this in future.

Will you be able to add some tests?

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qinqon commented May 6, 2024 •
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@qinqon It would be great if you can also update the docs with some references to the actual math, so we can avoid this in future.

Do you know if the original author added some reference somewhere ?

Will you be able to add some tests?

Yep, will do that too.

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Regarding docs: No, the original author did not include any. Please have a look at #954 and review what I've written there.

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qinqon commented May 7, 2024

Regarding docs: No, the original author did not include any. Please have a look at #954 and review what I've written there.

Ahh that's much needed, thanks.

@christophfroehlich someting a little off topic, I am preparing a PR to implement swerve drive re-using/refactoring steering library, does it make sense, or is better to create a new controller ?

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@christophfroehlich someting a little off topic, I am preparing a PR to implement swerve drive re-using/refactoring steering library, does it make sense, or is better to create a new controller ?

Please open a separate issue and propose your changes. I also had a rewrite of the steering library in mind, maybe we can find a proper way going forward. We can also discuss this on slack, I can add ellorent@redhat.com if you want?

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qinqon commented May 7, 2024

@christophfroehlich someting a little off topic, I am preparing a PR to implement swerve drive re-using/refactoring steering library, does it make sense, or is better to create a new controller ?

Please open a separate issue and propose your changes. I also had a rewrite of the steering library in mind, maybe we can find a proper way going forward. We can also discuss this on slack, I can add ellorent@redhat.com if you want?

Can you add me with my personal email ? quique.llorente@gmail.com

@qinqon qinqon closed this Jun 8, 2024
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christophfroehlich commented Jun 8, 2024 •
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@qinqon this is still missing?

@christophfroehlich christophfroehlich added backport-humble This label should be used by maintaines only! Label triggers PR backport to ROS2 humble. backport-iron This label should be used by maintaines only! Label triggers PR backport to ROS2 Iron. labels Jun 8, 2024
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mergify bot commented Jun 8, 2024

This pull request is in conflict. Could you fix it @qinqon?

@qinqon qinqon force-pushed the add-missing-tan-at-ackerman branch from 24b033f to b505bc6 Compare June 10, 2024 19:45
@qinqon
[STEERING] Add missing tan call for ackermann
b3a1d85 
Signed-off-by: Quique Llorente <ellorent@redhat.com>
@qinqon
Use c++ std::tan instead of tan fn
daba669 
Signed-off-by: Quique Llorente <ellorent@redhat.com>
@qinqon qinqon force-pushed the add-missing-tan-at-ackerman branch from 8b5497a to daba669 Compare June 18, 2024 12:29
@bmagyar bmagyar merged commit b81be48 into ros-controls:master Jun 19, 2024
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mergify bot pushed a commit that referenced this pull request Jun 19, 2024
@qinqon @mergify
[STEERING] Add missing tan call for ackermann (#1117)
e3dc53e 
(cherry picked from commit b81be48)
@mergify mergify bot mentioned this pull request Jun 19, 2024
Merged
mergify bot pushed a commit that referenced this pull request Jun 19, 2024
@qinqon @mergify
[STEERING] Add missing tan call for ackermann (#1117)
54f9ba1 
(cherry picked from commit b81be48)
@mergify mergify bot mentioned this pull request Jun 19, 2024
Merged
christophfroehlich pushed a commit that referenced this pull request Jun 19, 2024
@mergify @qinqon
[STEERING] Add missing tan call for ackermann (#1117) (#1177)
3005fea 
(cherry picked from commit b81be48)

Co-authored-by: Enrique Llorente Pastora <ellorent@redhat.com>
christophfroehlich pushed a commit that referenced this pull request Jun 19, 2024
@mergify @qinqon
[STEERING] Add missing tan call for ackermann (#1117) (#1176)
8c99191 
(cherry picked from commit b81be48)

Co-authored-by: Enrique Llorente Pastora <ellorent@redhat.com>
henrygerardmoore pushed a commit to henrygerardmoore/ros2_controllers that referenced this pull request Jul 19, 2024
@dependabot
Bump docker/build-push-action from 4 to 5 (ros-controls#1117)
49ea423
@destogl destogl mentioned this pull request Aug 14, 2024
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@christophfroehlich christophfroehlich christophfroehlich approved these changes

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