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Fix open-loop odometry in case of ref timeout (backport #1454) #1460

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Fix open-loop odometry in case of ref timeout (backport #1454) #1460

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14 changes: 7 additions & 7 deletions steering_controllers_library/src/steering_controllers_library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -432,22 +432,22 @@ controller_interface::return_type SteeringControllersLibrary::update_and_write_c

if (!std::isnan(reference_interfaces_[0]) && !std::isnan(reference_interfaces_[1]))
{
// store (for open loop odometry) and set commands
last_linear_velocity_ = reference_interfaces_[0];
last_angular_velocity_ = reference_interfaces_[1];

const auto age_of_last_command = time - (*(input_ref_.readFromRT()))->header.stamp;
const auto timeout =
age_of_last_command > ref_timeout_ && ref_timeout_ != rclcpp::Duration::from_seconds(0);

// store (for open loop odometry) and set commands
last_linear_velocity_ = timeout ? 0.0 : reference_interfaces_[0];
last_angular_velocity_ = timeout ? 0.0 : reference_interfaces_[1];

auto [traction_commands, steering_commands] = odometry_.get_commands(
last_linear_velocity_, last_angular_velocity_, params_.open_loop,
reference_interfaces_[0], reference_interfaces_[1], params_.open_loop,
params_.reduce_wheel_speed_until_steering_reached);
if (params_.front_steering)
{
for (size_t i = 0; i < params_.rear_wheels_names.size(); i++)
{
command_interfaces_[i].set_value(timeout ? 0. : traction_commands[i]);
command_interfaces_[i].set_value(timeout ? 0.0 : traction_commands[i]);
}
for (size_t i = 0; i < params_.front_wheels_names.size(); i++)
{
Expand All @@ -459,7 +459,7 @@ controller_interface::return_type SteeringControllersLibrary::update_and_write_c
{
for (size_t i = 0; i < params_.front_wheels_names.size(); i++)
{
command_interfaces_[i].set_value(timeout ? 0. : traction_commands[i]);
command_interfaces_[i].set_value(timeout ? 0.0 : traction_commands[i]);
}
for (size_t i = 0; i < params_.rear_wheels_names.size(); i++)
{
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