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Fix steering controllers library kinematics #1150

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merged 12 commits into from
Jul 3, 2024
Merged

Fix steering controllers library kinematics #1150

merged 12 commits into from
Jul 3, 2024

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christophfroehlich
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@christophfroehlich christophfroehlich commented May 26, 2024 •
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A follow-up of #1149 to fix bugs of the steering library, namely

  • in open-loop mode, zero steering angle was used for IK calculation
    discussed in Add mobile robot kinematics 101 and improve steering library docs #954 (my fix breaks API of the library, but it had no information about open_loop. I could duplicate the get_commands() method to get_commands_open_loop(), but that would break ABI too?)
  • wrong wheelspeed was used (traction on steering wheel, instead of other axle was assumed)
  • Improve odometry of overdetermined measurements. use nonlinear dependency from wheel speed to calculate linear velocity (ideal) vs the old linear average:
    image

This should finally fix #937 #933 and #789

@christophfroehlich christophfroehlich mentioned this pull request May 26, 2024
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@christophfroehlich christophfroehlich changed the title Fix/steering controllers library kinematics Fix steering controllers library kinematics May 26, 2024
@christophfroehlich christophfroehlich force-pushed the fix/steering_controllers_library-docs branch from 4b06b5f to 77212df Compare May 27, 2024 19:18
@christophfroehlich christophfroehlich force-pushed the fix/steering_controllers_library_kinematics branch 2 times, most recently from 498e09d to c421ad0 Compare May 28, 2024 19:54
Base automatically changed from fix/steering_controllers_library-docs to master June 5, 2024 19:50
@christophfroehlich
Fix IK
aa34f02 
- in open-loop mode, zero steering angle was used for IK calculation
- wrong wheelspeed was used (traction on steering wheel, instead of other axle was assumed)
@christophfroehlich
Fix controller tests and add notes
35f34d8
@christophfroehlich
Improve tests for other steering types
21afbc5
@christophfroehlich
Improve odometry of overdetermined measurements
8809f62
@christophfroehlich
Remove debug output
0209540
@christophfroehlich christophfroehlich force-pushed the fix/steering_controllers_library_kinematics branch from c421ad0 to 0209540 Compare June 5, 2024 20:01
@christophfroehlich christophfroehlich marked this pull request as ready for review June 5, 2024 20:32
@ros-controls ros-controls deleted a comment from mergify bot Jun 5, 2024
@christophfroehlich christophfroehlich mentioned this pull request Jun 8, 2024
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@christophfroehlich christophfroehlich mentioned this pull request Jun 9, 2024
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qinqon
qinqon suggested changes Jun 10, 2024
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first pass, I will review the "Improve odometry of overdetermined measurements" later on

steering_controllers_library/src/steering_odometry.cpp Show resolved Hide resolved
steering_controllers_library/src/steering_odometry.cpp Show resolved Hide resolved
steering_controllers_library/src/steering_odometry.cpp Outdated Show resolved Hide resolved
steering_controllers_library/src/steering_odometry.cpp Outdated Show resolved Hide resolved
steering_controllers_library/src/steering_odometry.cpp Outdated Show resolved Hide resolved
steering_controllers_library/src/steering_odometry.cpp Show resolved Hide resolved
steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp Outdated Show resolved Hide resolved
@christophfroehlich christophfroehlich mentioned this pull request Jun 19, 2024
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@qinqon qinqon mentioned this pull request Jun 19, 2024
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mergify bot commented Jun 19, 2024

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

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fe2ba4b:

$ colcon test --packages-select steering_controllers_library ackermann_steering_controller bicycle_steering_
controller tricycle_steering_controller
Starting >>> steering_controllers_library
Finished <<< steering_controllers_library [0.38s]          
Starting >>> ackermann_steering_controller
Starting >>> bicycle_steering_controller
Starting >>> tricycle_steering_controller
Finished <<< ackermann_steering_controller [0.93s]                                                                                                 
Finished <<< bicycle_steering_controller [0.97s]
Finished <<< tricycle_steering_controller [0.96s]

Summary: 4 packages finished [1.76s]

qinqon
qinqon suggested changes Jun 23, 2024
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steering_controllers_library/src/steering_odometry.cpp
Comment on lines +162 to +169
// overdetermined, we take the average
const double right_steer_pos_est = std::atan(
wheelbase_ * std::tan(right_steer_pos) /
(wheelbase_ - wheel_track_ / 2 * std::tan(right_steer_pos)));
const double left_steer_pos_est = std::atan(
wheelbase_ * std::tan(left_steer_pos) /
(wheelbase_ + wheel_track_ / 2 * std::tan(left_steer_pos)));
steer_pos_ = (right_steer_pos_est + left_steer_pos_est) * 0.5;
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Calculations are fine, but I thin we can split it a little to re-use and improve readability having "atan" and "tan" at the same line is a little confusing.

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Nah that's fine since this is following the docs.

qinqon
qinqon approved these changes Jun 23, 2024
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/lgtm

@destogl destogl merged commit df04492 into master Jul 3, 2024
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@destogl destogl deleted the fix/steering_controllers_library_kinematics branch July 3, 2024 17:43
wittenator pushed a commit to wittenator/ros2_controllers that referenced this pull request Jul 5, 2024
@christophfroehlich @wittenator
Fix steering controllers library kinematics (ros-controls#1150)
3ca1232
@wittenator wittenator mentioned this pull request Jul 5, 2024
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@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 Jul 5, 2024
mergify bot pushed a commit that referenced this pull request Jul 5, 2024
@christophfroehlich @mergify
Fix steering controllers library kinematics (#1150)
5f1fd99 
(cherry picked from commit df04492)
mergify bot pushed a commit that referenced this pull request Jul 5, 2024
@christophfroehlich @mergify
Fix steering controllers library kinematics (#1150)
eb2bb6d 
(cherry picked from commit df04492)
This was referenced Jul 5, 2024
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bmagyar pushed a commit that referenced this pull request Jul 6, 2024
@mergify
Fix steering controllers library kinematics (#1150) (#1195)
73b20e5
bmagyar pushed a commit that referenced this pull request Jul 15, 2024
@mergify
Fix steering controllers library kinematics (#1150) (#1194)
143bfc9
This was referenced Jul 18, 2024
Closed
Closed
henrygerardmoore pushed a commit to henrygerardmoore/ros2_controllers that referenced this pull request Jul 19, 2024
@destogl
[MockHardware] Remove all deprecated options and deprecated plugins f…
0863acd 
…rom the library. (ros-controls#1150)

* Rename HW for simpler debugging and remove deprecated initial value handling.
* Remove fake from parameters.
* Remove FakeSystem
* Cleanup fake from tests.
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@qinqon qinqon qinqon approved these changes

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Odomentry not properly working with ackermann steering
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