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Steering controllers library: fix open loop mode #793

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merged 3 commits into from
Oct 16, 2023
Merged

Steering controllers library: fix open loop mode #793

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3f28f8f
set last*velocity variables for open loop odometry
christophfroehlich Oct 9, 2023
2fc6935
Make function arguments const
christophfroehlich Oct 9, 2023
693c4f5
Update function in header file too
christophfroehlich Oct 9, 2023
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3 changes: 2 additions & 1 deletion steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -184,7 +184,8 @@ class SteeringOdometry
* \param theta_dot Desired angular velocity [rad/s]
* \return Tuple of velocity commands and steering commands
*/
std::tuple<std::vector<double>, std::vector<double>> get_commands(double Vx, double theta_dot);
std::tuple<std::vector<double>, std::vector<double>> get_commands(
const double Vx, const double theta_dot);

/**
* \brief Reset poses, heading, and accumulators
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7 changes: 4 additions & 3 deletions steering_controllers_library/src/steering_controllers_library.cpp
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Expand Up @@ -443,10 +443,11 @@ controller_interface::return_type SteeringControllersLibrary::update_and_write_c
if (!std::isnan(reference_interfaces_[0]) && !std::isnan(reference_interfaces_[1]))
{
// store and set commands
const double linear_command = reference_interfaces_[0];
const double angular_command = reference_interfaces_[1];
last_linear_velocity_ = reference_interfaces_[0];
last_angular_velocity_ = reference_interfaces_[1];

auto [traction_commands, steering_commands] =
odometry_.get_commands(linear_command, angular_command);
odometry_.get_commands(last_linear_velocity_, last_angular_velocity_);
if (params_.front_steering)
{
for (size_t i = 0; i < params_.rear_wheels_names.size(); i++)
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2 changes: 1 addition & 1 deletion steering_controllers_library/src/steering_odometry.cpp
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Expand Up @@ -210,7 +210,7 @@ double SteeringOdometry::convert_trans_rot_vel_to_steering_angle(double Vx, doub
}

std::tuple<std::vector<double>, std::vector<double>> SteeringOdometry::get_commands(
double Vx, double theta_dot)
const double Vx, const double theta_dot)
{
// desired velocity and steering angle of the middle of traction and steering axis
double Ws, alpha;
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