From b7523978de29f81e931d2dabed818016f1663de8 Mon Sep 17 00:00:00 2001 From: Alexis schad Date: Wed, 28 Nov 2018 03:12:36 -0800 Subject: [PATCH 1/3] fix mistake in jerk limit --- four_wheel_steering_controller/src/speed_limiter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/four_wheel_steering_controller/src/speed_limiter.cpp b/four_wheel_steering_controller/src/speed_limiter.cpp index aea38e2d4..f227eae60 100644 --- a/four_wheel_steering_controller/src/speed_limiter.cpp +++ b/four_wheel_steering_controller/src/speed_limiter.cpp @@ -115,7 +115,7 @@ namespace four_wheel_steering_controller const double dv = v - v0; const double dv0 = v0 - v1; - const double dt2 = 2. * dt * dt; + const double dt2 = dt * dt; const double da_min = min_jerk * dt2; const double da_max = max_jerk * dt2; From 5017f09ddb01f506e5f48be71dc10fbdf2f110b6 Mon Sep 17 00:00:00 2001 From: Alexis schad Date: Wed, 28 Nov 2018 05:50:46 -0800 Subject: [PATCH 2/3] fix mistake in jerk limit (diff_drive_controller) --- diff_drive_controller/src/speed_limiter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/diff_drive_controller/src/speed_limiter.cpp b/diff_drive_controller/src/speed_limiter.cpp index 630ec8201..9f15a7882 100644 --- a/diff_drive_controller/src/speed_limiter.cpp +++ b/diff_drive_controller/src/speed_limiter.cpp @@ -121,7 +121,7 @@ namespace diff_drive_controller const double dv = v - v0; const double dv0 = v0 - v1; - const double dt2 = 2. * dt * dt; + const double dt2 = dt * dt; const double da_min = min_jerk * dt2; const double da_max = max_jerk * dt2; From ca8d6e2f62c91d382790e81818f44410b8a7d5ea Mon Sep 17 00:00:00 2001 From: Alexis schad Date: Thu, 6 Dec 2018 05:20:49 -0800 Subject: [PATCH 3/3] fix limits tests --- diff_drive_controller/test/diffbot_limits.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/diff_drive_controller/test/diffbot_limits.yaml b/diff_drive_controller/test/diffbot_limits.yaml index 78f0bf96b..8d3241eb8 100644 --- a/diff_drive_controller/test/diffbot_limits.yaml +++ b/diff_drive_controller/test/diffbot_limits.yaml @@ -8,7 +8,7 @@ diffbot_controller: min_acceleration: -0.5 max_acceleration: 1.0 has_jerk_limits: true - max_jerk: 5.0 + max_jerk: 10.0 angular: z: has_velocity_limits: true @@ -16,4 +16,4 @@ diffbot_controller: has_acceleration_limits: true max_acceleration: 2.0 has_jerk_limits: true - max_jerk: 10.0 + max_jerk: 20.0