yujin_ocs
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yujinrobot
Yujin Robot's open-source control libraries
It's missing: http://wiki.ros.org/yocs_waypoints_navi
When no velocity feedback is used, it looks like the `last_cmd_vel` is not valid until the smoother did one spin. That is, `last_cmd_vel` is after start up 0 and afterwards...
Instead of standalone package which parses waypoints from yaml and request move_base to navigate around, redesign it to utilise yocs_waypoint_manager to parse waypoints from yaml, and only controls move_base.
I would like to use the axis as buttons as well.
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).
@AlexReimann I just ran across this: ``` [...] dist_eps_ = dist_eps_ * 0.2; [...] orient_eps_ = orient_thres_ * 0.2 ``` https://github.com/yujinrobot/yujin_ocs/blob/indigo-devel/yocs_diff_drive_pose_controller/src/diff_drive_pose_controller_ros.cpp#L113-L129 What is the reason for (was the motivation behind)...
If not, the robot will move shaky without a clear indication of why, at it will always compare current command with zero velocity.
List might be outdated, e.g. sensor_msgs, yocs_math_toolkit
E.g. ``` void DiffDrivePoseController::spinOnce() { ... } ``` Put it inside the class declaration or add `inline`.
How to test : 1. Clone [kobuki_softapps source](https://github.com/yujinrobot/kobuki_soft/tree/diff_drive_test) diff drive branch 2. ``` > roslaunch kobuki_softapps diff_drive_test.launch ```