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Fix: AckermannSteering Plugin limits the minimum angular velocity based on the minimum linear velocity, preventing steering to the right when set to 0 #2734 #2748

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Fix: AckermannSteering Plugin limits the minimum angular velocity based on the minimum linear velocity, preventing steering to the right when set to 0 #2734 #2748

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a13e650
separate angular limiter parameters from linear
siksal Jan 30, 2025
f7395db
document new angular limit parameters in AckermannSteering.hh
siksal Jan 30, 2025
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36 changes: 30 additions & 6 deletions src/systems/ackermann_steering/AckermannSteering.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -346,37 +346,61 @@ void AckermannSteering::Configure(const Entity &_entity,
{
const double minVel = _sdf->Get<double>("min_velocity");
this->dataPtr->limiterLin->SetMinVelocity(minVel);
this->dataPtr->limiterAng->SetMinVelocity(minVel);
}
if (_sdf->HasElement("min_angular_velocity"))
{
const double minAngVel = _sdf->Get<double>("min_angular_velocity");
this->dataPtr->limiterAng->SetMinVelocity(minAngVel);
}
if (_sdf->HasElement("max_velocity"))
{
const double maxVel = _sdf->Get<double>("max_velocity");
this->dataPtr->limiterLin->SetMaxVelocity(maxVel);
this->dataPtr->limiterAng->SetMaxVelocity(maxVel);
}
if (_sdf->HasElement("max_angular_velocity"))
{
const double maxAngVel = _sdf->Get<double>("max_angular_velocity");
this->dataPtr->limiterAng->SetMaxVelocity(maxAngVel);
}
if (_sdf->HasElement("min_acceleration"))
{
const double minAccel = _sdf->Get<double>("min_acceleration");
this->dataPtr->limiterLin->SetMinAcceleration(minAccel);
this->dataPtr->limiterAng->SetMinAcceleration(minAccel);
}
if (_sdf->HasElement("min_angular_acceleration"))
{
const double minAngAccel = _sdf->Get<double>("min_angular_acceleration");
this->dataPtr->limiterAng->SetMinAcceleration(minAngAccel);
}
if (_sdf->HasElement("max_acceleration"))
{
const double maxAccel = _sdf->Get<double>("max_acceleration");
this->dataPtr->limiterLin->SetMaxAcceleration(maxAccel);
this->dataPtr->limiterAng->SetMaxAcceleration(maxAccel);
}
if (_sdf->HasElement("max_angular_acceleration"))
{
const double maxAngAccel = _sdf->Get<double>("max_angular_acceleration");
this->dataPtr->limiterAng->SetMaxAcceleration(maxAngAccel);
}
if (_sdf->HasElement("min_jerk"))
{
const double minJerk = _sdf->Get<double>("min_jerk");
this->dataPtr->limiterLin->SetMinJerk(minJerk);
this->dataPtr->limiterAng->SetMinJerk(minJerk);
}
if (_sdf->HasElement("min_angular_jerk"))
{
const double minAngJerk = _sdf->Get<double>("min_angular_jerk");
this->dataPtr->limiterAng->SetMinJerk(minAngJerk);
}
if (_sdf->HasElement("max_jerk"))
{
const double maxJerk = _sdf->Get<double>("max_jerk");
this->dataPtr->limiterLin->SetMaxJerk(maxJerk);
this->dataPtr->limiterAng->SetMaxJerk(maxJerk);
}
if (_sdf->HasElement("max_angular_jerk"))
{
const double maxAngJerk = _sdf->Get<double>("max_angular_jerk");
this->dataPtr->limiterAng->SetMaxJerk(maxAngJerk);
}

if (!this->dataPtr->steeringOnly)
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10 changes: 8 additions & 2 deletions src/systems/ackermann_steering/AckermannSteering.hh
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Expand Up @@ -92,11 +92,17 @@ namespace systems
/// element is optional, and the default value is 50Hz.
///
/// - `<min_velocity>`: Minimum velocity [m/s], usually <= 0.
/// - `<min_angular_velocity>`: Minimum angular velocity [m/s], usually <= 0.
/// - `<max_velocity>`: Maximum velocity [m/s], usually >= 0.
/// - `<max_angular_velocity>`: Maximum angular velocity [m/s], usually >= 0.
/// - `<min_acceleration>`: Minimum acceleration [m/s^2], usually <= 0.
/// - `<min_angular_acceleration>`: Minimum angular acceleration [m/s^2], usually <= 0.
/// - `<max_acceleration>`: Maximum acceleration [m/s^2], usually >= 0.
/// - `<min_jerk Minimum>`: jerk [m/s^3], usually <= 0.
/// - `<max_jerk Maximum>`: jerk [m/s^3], usually >= 0.
/// - `<max_angular_acceleration>`: Maximum angular acceleration [m/s^2], usually >= 0.
/// - `<min_jerk>`: Minimum jerk [m/s^3], usually <= 0.
/// - `<min_angular_jerk>`: Minimum jerk [m/s^3], usually <= 0.
/// - `<max_jerk>`: Maximum jerk [m/s^3], usually >= 0.
/// - `<max_angular_jerk>`: Maximum jerk [m/s^3], usually >= 0.
///
/// - `<topic>`: Custom topic that this system will subscribe to in order to
/// receive command messages. This element is optional, and the
Expand Down