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Published 20 hours ago • verified publisher icon yujinrobot

[smoother] limiting target velocities does not preserve direction

Open bit-pirate opened this issue 9 years ago • 2 comments

https://github.com/yujinrobot/yujin_ocs/blob/indigo-devel/yocs_velocity_smoother/src/velocity_smoother_nodelet.cpp#L95-L99

But smoothing preserves the direction. Should do the same when limiting (bounding).

bit-pirate avatar Feb 03 '16 10:02 bit-pirate

FYI @AlexReimann @corot

bit-pirate avatar Feb 03 '16 10:02 bit-pirate

몰라요..... :confused: Both options make sense to me... The proposed change sounds reasonable, but I would not be surprised if the robot only bounds the out-of-limit speed. Are you really running robots at full speed? :open_mouth:

corot avatar Feb 03 '16 11:02 corot