[Graceful Controller] Add deceleration limit #5511
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Signed-off-by: Sakshay Mahna <[email protected]>
Signed-off-by: Sakshay Mahna <[email protected]>
Signed-off-by: Sakshay Mahna <[email protected]>
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@SteveMacenski A few points to note on the implementation:
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| @@ -48,6 +48,8 @@ Controller::Controller( | |||
| node, "controller.v_angular_max", rclcpp::ParameterValue(0.75)); | |||
| nav2::declare_parameter_if_not_declared( | |||
| node, "controller.slowdown_radius", rclcpp::ParameterValue(0.25)); | |||
| nav2::declare_parameter_if_not_declared( | |||
| node, "controller.deceleration_max", rclcpp::ParameterValue(0.1)); | |||
| @@ -66,7 +73,10 @@ geometry_msgs::msg::Twist SmoothControlLaw::calculateRegularVelocity( | |||
| double v = v_linear_max_ / (1.0 + beta_ * std::pow(fabs(curvature), lambda_)); | |||
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| // Slowdown when the robot is near the target to remove singularity | |||
| v = std::min(v_linear_max_ * (ego_coords.r / slowdown_radius_), v); | |||
| v = std::min(v_linear_max_ * (target_distance / slowdown_radius_), v); | |||
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Why change from ego_coords.r?
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Also check out the CI tests, a few are legit failing it looks like from this update |
Update cloned repo
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@SakshayMahna any update? I see you pulled in main |
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No not yet. I will get it done by this week. |
Signed-off-by: Sakshay Mahna <[email protected]>
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Basic Info
Description of contribution in a few bullet points
Graceful Controller makes use of a slowdown radius to stop at the target. This PR additionally applies deceleration limit while the robot is stopping.
Description of documentation updates required from your changes
deceleration_maxto Graceful Controller.Description of how this change was tested
Tested in simulation.
Future work that may be required in bullet points
For Maintainers:
backport-*.