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Better cmd_vel command execution #5

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cst0 opened this issue Sep 26, 2022 · 0 comments

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cst0 commented Sep 26, 2022

There are some cases where the current interpretation of cmd_vels leaves much to be desired:

If cmd_vel's are received at too low a rate, the robot does not move
There's no acceleration/deceleration (at least not noticably), so jerking behavior is common
There's some startup race condition where a series of 0'd cmd_vels can be sent, preventing locomotion (though this may be on the side of spot_ros_nav)

cst0 added the enhancement label

cst0 self-assigned this

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