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Check the absolute angle difference when checking angular tolerance #211

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corot wants to merge 1 commit into master from fix_mbf_tolerance_check

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corot commented Jul 16, 2020 •

edited

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Actually, this is still not enough, as we also need to check that the robot is almost stopped. Like in the base_local_planner:

  bool stopped(const nav_msgs::Odometry& base_odom, 
      const double& rot_stopped_velocity, const double& trans_stopped_velocity){
    return fabs(base_odom.twist.twist.angular.z) <= rot_stopped_velocity 
      && fabs(base_odom.twist.twist.linear.x) <= trans_stopped_velocity
      && fabs(base_odom.twist.twist.linear.y) <= trans_stopped_velocity;
  }

But wee need to merge #189 to have actual robot speed to check that, so I'll do in another PR.


          Check the absolute angle difference when checking angular tolerance

4654a5c

corot requested a review from spuetz

July 16, 2020 09:06

corot added the bug label

Collaborator Author

corot commented Jul 17, 2020

my bad; mbf_utility::angle always returns positive angles

corot closed this

spuetz deleted the fix_mbf_tolerance_check branch

September 16, 2020 10:15

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