[velocity_smoother] accel and deccel are inverted for negative speeds #3526
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 22.04
- ROS2 Version:
- Humble
- Version or commit hash:
- lastest main
- DDS implementation:
- Cyclone
Steps to reproduce issue
velocity_smoother = Node(
package='nav2_velocity_smoother',
name='root_velocity_smoother',
executable='velocity_smoother',
parameters=[
# {'use_sim_time': use_sim_time},
{'smoothing_frequency': 20.0},
{'scale_velocities': False},
{'feedback': 'OPEN_LOOP'},
{'max_velocity': [0.5, 0.0, 0.8]},
{'min_velocity': [-0.5, 0.0, -0.8]},
{'velocity_timeout': 0.5},
{'max_accel': [0.1, 0.0, 0.2]},
{'max_decel': [-0.5, 0.0, -1.2]},
],
remappings=[
('cmd_vel', 'cmd_vel_protected'),
('cmd_vel_smoothed', 'cmd_vel')],
output='screen')
Expected behavior
accel and deccel are applied similarly on both direction
Actual behavior
accel and deccel are inverted when going backward (here 0.1m/s2 accel and 0.5 m/s2 deccel)
Forward:
Backward:
Same for angular accel/deccel
EDIT: angular velocities
Reporting for now, PR later