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Apply acceleration until both left and right reach targetspeed #1009

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merged 2 commits into from
Jun 19, 2020
Merged

Apply acceleration until both left and right reach targetspeed #1009

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567584e
Apply acceleration until both left and right reach targetspeed
scgroot Oct 17, 2019
f7a37bd
Merge branch 'ros2' into scgroot_ros2
chapulina Jun 19, 2020
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4 changes: 2 additions & 2 deletions gazebo_plugins/src/gazebo_ros_diff_drive.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -472,8 +472,8 @@ void GazeboRosDiffDrivePrivate::OnUpdate(const gazebo::common::UpdateInfo & _inf
// If max_accel == 0, or target speed is reached
for (unsigned int i = 0; i < num_wheel_pairs_; ++i) {
if (max_wheel_accel_ == 0 ||
(fabs(desired_wheel_speed_[2 * i + LEFT] - current_speed[2 * i + LEFT]) < 0.01) ||
(fabs(desired_wheel_speed_[2 * i + RIGHT] - current_speed[2 * i + RIGHT]) < 0.01))
((fabs(desired_wheel_speed_[2 * i + LEFT] - current_speed[2 * i + LEFT]) < 0.01) &&
(fabs(desired_wheel_speed_[2 * i + RIGHT] - current_speed[2 * i + RIGHT]) < 0.01)))
{
joints_[2 * i + LEFT]->SetParam(
"vel", 0, desired_wheel_speed_[2 * i + LEFT] / (wheel_diameter_[i] / 2.0));
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