fix: correct curvature signal on RPP#2979
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SteveMacenski merged 2 commits intoros-navigation:mainfrom May 31, 2022
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Signed-off-by: Afonso da Fonseca Braga <afonso.braga@engenharia.ufjf.br>
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@afonsofonbraga, please properly fill in PR template in the future. @SteveMacenski, use this instead.
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Toggling to trigger CI, it didn't for some reason 🤷 |
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LGTM other than what's mentioned above + CI run |
nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
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Signed-off-by: Afonso da Fonseca Braga <afonso.braga@engenharia.ufjf.br>
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Sorry by the force on the push command, the commit wasn't signed off. All fixed now. |
SteveMacenski
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May 31, 2022
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Thanks for the patch! |
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* fix: correct curvature signal Signed-off-by: Afonso da Fonseca Braga <afonso.braga@engenharia.ufjf.br> * cleanup: move sign's position Signed-off-by: Afonso da Fonseca Braga <afonso.braga@engenharia.ufjf.br>
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SteveMacenski
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redvinaa
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Jun 30, 2022
* fix: correct curvature signal Signed-off-by: Afonso da Fonseca Braga <afonso.braga@engenharia.ufjf.br> * cleanup: move sign's position Signed-off-by: Afonso da Fonseca Braga <afonso.braga@engenharia.ufjf.br>
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Sep 12, 2022
…ation#2995) * fix: correct curvature signal Signed-off-by: Afonso da Fonseca Braga <afonso.braga@engenharia.ufjf.br> * cleanup: move sign's position Signed-off-by: Afonso da Fonseca Braga <afonso.braga@engenharia.ufjf.br>
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Basic Info
Description of contribution in a few bullet points
Taking a closer look into the RPP at this line https://github.com/ros-planning/navigation2/blob/80d7d0a080d7401607fd85216f9c450518e7ed42/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp#L628 the linear_vel is being multiplied by the signal, changing the direction of the curvature at line
https://github.com/ros-planning/navigation2/blob/80d7d0a080d7401607fd85216f9c450518e7ed42/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp#L333
My solution was to also multiply at line 333 by the sign to revert the multiplication and not messing with the applyConstraints function. The result is:
Description of documentation updates required from your changes
Future work that may be required in bullet points
For Maintainers: