Rotational fixes #999
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Rotational fixes #999
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The parameter max_speed_theta now refers to the absolute value of the maximum rotational velocity that can be commanded.
The parameter min_in_place_speed_theta now refers to the absolute value of the minimum rotational velocity that will be commanded when performing an in-place rotation.
The max_speed_theta and min_in_place_speed_theta parameters replace following parameters which are no longer supported:
max_vel_theta, min_vel_theta, max_rotational_vel, min_in_place_vel_theta
Variable names within the code have also been changed to reflect these parameter name changes.
The variables max_vel_th, max_vel_th_, and max_vel_theta all refer to the maximum rotational velocity, not speed.
The variables min_vel_th, min_vel_th_, and min_vel_theta all refer to the minimum rotational velocity, not speed.
The variables min_in_place_speed_th, min_in_place_speed_th_, and min_in_place_speed_theta all refer to the minimum rotational speed, not velocity, for in-place rotations.
base_local_planner/trajectory_planner_ros:
param name change: max_rotational_vel --> max_speed_theta
dynamic reconfigure param name change: max_vel_theta --> max_speed_theta
removed dynamic reconfigure param: min_vel_theta
dynamic reconfigure param name change: min_in_place_vel_theta --> min_in_place_speed_theta
dwa_planner_ros:
dynamic reconfigure param name change: max_vel_theta --> max_speed_theta
dynamic reconfigure param name change: min_vel_theta --> min_in_place_speed_theta
move_slow_and_clear:
param name change: max_vel_theta --> max_speed_theta
rotate_recovery:
param name change: max_vel_theta --> max_speed_theta
param name change: min_vel_theta --> min_in_place_speed_theta
…city limits. Made changes for both trajectory_planner_ros and latcehd_stop_rotate_controller. Updated comments to make calculations more understandable.
…e trajectory generation and the in place rotations.
This fixes the latched stopped rotation bug. Changes were applied to both dwa_planner_ros and base_local_planner.
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I know this PR covers a lot, but all of the changes were rather interdependent. Basically I discovered some errors in the kinematics for the rotatetogoal functions, but when trying to implement these changes on both BLP and DWA I discovered that the naming convention between the parameters was not consistent. And not only were they inconsistent, they were misleading, hence the changes to the parameter names and the variables they set in the code. I could try and break this up a bit more if that would be useful, but I'm not sure what the best way to do that would be. |
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This fixes a number of problems related to rotation within DWA and BLP.