Skip to content

[Velocity smoother] Set zeros command if timeout #3512

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 9 commits into from
Mar 29, 2023
Merged

[Velocity smoother] Set zeros command if timeout #3512

Changes from all commits
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
4906196
Set zeros command if timeout
BriceRenaudeau Mar 27, 2023
e5ab570
Fix lint
BriceRenaudeau Mar 27, 2023
8a6620e
Fix gtest
BriceRenaudeau Mar 27, 2023
6b81efc
Always update last_cmd_
BriceRenaudeau Mar 27, 2023
76ea5c3
Revert test modif
BriceRenaudeau Mar 27, 2023
7fc557a
remove test logs
BriceRenaudeau Mar 27, 2023
0af544d
Fix paste error
BriceRenaudeau Mar 27, 2023
2c75a8d
Update velocity_smoother.cpp
BriceRenaudeau Mar 27, 2023
1001f37
Update velocity_smoother.cpp
BriceRenaudeau Mar 27, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
17 changes: 6 additions & 11 deletions nav2_velocity_smoother/src/velocity_smoother.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -216,14 +216,13 @@ void VelocitySmoother::smootherTimer()

auto cmd_vel = std::make_unique<geometry_msgs::msg::Twist>();

// Check for velocity timeout. If nothing received, publish zeros to stop robot
// Check for velocity timeout. If nothing received, publish zeros to apply deceleration
if (now() - last_command_time_ > velocity_timeout_) {
last_cmd_ = geometry_msgs::msg::Twist();
if (!stopped_) {
smoothed_cmd_pub_->publish(std::move(cmd_vel));
if (last_cmd_ == geometry_msgs::msg::Twist() || stopped_) {
stopped_ = true;
return;
}
stopped_ = true;
return;
*command_ = geometry_msgs::msg::Twist();
}

stopped_ = false;
Expand Down Expand Up @@ -276,16 +275,12 @@ void VelocitySmoother::smootherTimer()
cmd_vel->angular.z = applyConstraints(
current_.angular.z, command_->angular.z, max_accels_[2], max_decels_[2], eta);

// If open loop, assume we achieved it
if (open_loop_) {
last_cmd_ = *cmd_vel;
}

// Apply deadband restrictions & publish
cmd_vel->linear.x = fabs(cmd_vel->linear.x) < deadband_velocities_[0] ? 0.0 : cmd_vel->linear.x;
cmd_vel->linear.y = fabs(cmd_vel->linear.y) < deadband_velocities_[1] ? 0.0 : cmd_vel->linear.y;
cmd_vel->angular.z = fabs(cmd_vel->angular.z) <
deadband_velocities_[2] ? 0.0 : cmd_vel->angular.z;
last_cmd_ = *cmd_vel;
smoothed_cmd_pub_->publish(std::move(cmd_vel));
}

Expand Down