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[Velocity smoother] Set zeros command if timeout #3512

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merged 9 commits into from
Mar 29, 2023
Merged

[Velocity smoother] Set zeros command if timeout #3512

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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
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17 changes: 6 additions & 11 deletions nav2_velocity_smoother/src/velocity_smoother.cpp
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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;
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}
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