Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

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

Open
wants to merge 2 commits into
base: gz-sim9
Choose a base branch
from
+38 −8
Open

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

Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
a13e650
separate angular limiter parameters from linear
siksal Jan 30, 2025
f7395db
document new angular limit parameters in AckermannSteering.hh
siksal Jan 30, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
36 changes: 30 additions & 6 deletions src/systems/ackermann_steering/AckermannSteering.cc
View file
Open in desktop
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)
Expand Down