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fix bug in use of v_angular_min_in_place #4813

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Merged
merged 1 commit into from
Dec 20, 2024
Merged

fix bug in use of v_angular_min_in_place #4813

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2 changes: 1 addition & 1 deletion nav2_graceful_controller/src/graceful_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -367,7 +367,7 @@ geometry_msgs::msg::Twist GracefulController::rotateToTarget(double angle_to_tar
geometry_msgs::msg::Twist vel;
vel.linear.x = 0.0;
vel.angular.z = params_->rotation_scaling_factor * angle_to_target * params_->v_angular_max;
vel.angular.z = std::copysign(1.0, vel.angular.z) * std::min(abs(vel.angular.z),
vel.angular.z = std::copysign(1.0, vel.angular.z) * std::max(abs(vel.angular.z),
params_->v_angular_min_in_place);
return vel;
}
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13 changes: 13 additions & 0 deletions nav2_graceful_controller/test/test_graceful_controller.cpp
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Expand Up @@ -461,6 +461,19 @@ TEST(GracefulControllerTest, rotateToTarget) {
// Check results: it must be a negative rotation
EXPECT_EQ(cmd_vel.linear.x, 0.0);
EXPECT_EQ(cmd_vel.angular.z, -0.25);

// Set very high v_angular_min_in_place velocity
results = params->set_parameters_atomically(
{rclcpp::Parameter("test.v_angular_min_in_place", 1.0)});
rclcpp::spin_until_future_complete(node->get_node_base_interface(), results);

// Set a new angle to target
angle_to_target = 0.5;
cmd_vel = controller->rotateToTarget(angle_to_target);

// Check results: positive velocity, at least as high as min_in_place
EXPECT_EQ(cmd_vel.linear.x, 0.0);
EXPECT_EQ(cmd_vel.angular.z, 1.0);
}

TEST(GracefulControllerTest, setSpeedLimit) {
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