From bc87e31b328c92c1eb9bdba8d39087721ebd6861 Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Mon, 28 Aug 2023 18:57:05 +0200 Subject: [PATCH] Update docs with note about odometry calculation. --- mecanum_drive_controller/doc/userdoc.rst | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/mecanum_drive_controller/doc/userdoc.rst b/mecanum_drive_controller/doc/userdoc.rst index c244155b72..3aca53a859 100644 --- a/mecanum_drive_controller/doc/userdoc.rst +++ b/mecanum_drive_controller/doc/userdoc.rst @@ -3,7 +3,7 @@ mecanum_drive_controller ========================= -Library with shared functionalities for mobile robots controllers with mecanum drive (four wheels). +Library with shared functionalities for mobile robot controllers with mecanum drive (four wheels). The library implements generic odometry and update methods and defines the main interfaces. Execution logic of the controller @@ -11,12 +11,16 @@ Execution logic of the controller The controller uses velocity input, i.e., stamped or unstamped Twist messages where linear ``x``, ``y``, and angular ``z`` components are used. Values in other components are ignored. -In the chain mode the controller provides three reference interfaces, one for linear velocity and one for steering angle position. +In the chain mode, the controller provides three reference interfaces, one for linear velocity and one for steering angle position. Other relevant features are: - odometry publishing as Odometry and TF message; - input command timeout based on a parameter. +Note about odometry calculation: +In the DiffDRiveController, the velocity is filtered out, but we prefer to return it raw and let the user perform post-processing at will. +We prefer this way of doing so as filtering introduces delay (which makes it difficult to interpret and compare behavior curves). + Description of controller's interfaces -------------------------------------- @@ -39,7 +43,7 @@ States Subscribers ,,,,,,,,,,,, -Used when controller is not in chained mode (``in_chained_mode == false``). +Used when the controller is not in chained mode (``in_chained_mode == false``). - /reference [geometry_msgs/msg/TwistStamped] @@ -52,6 +56,6 @@ Publishers Parameters ,,,,,,,,,,, -For list of parameters and their meaning, see the YAML file in the ``src`` folder of the controller's package. +For a list of parameters and their meaning, see the YAML file in the ``src`` folder of the controller's package. -For an exemplary parameterization see the ``test`` folder of the controller's package. +For an exemplary parameterization, see the ``test`` folder of the controller's package.