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Fix the oscillation issue in the RPP controller #103

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lukicdarkoo opened this issue Mar 1, 2022 · 2 comments
Open

Fix the oscillation issue in the RPP controller #103

lukicdarkoo opened this issue Mar 1, 2022 · 2 comments
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@angstrem98
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bug Something isn't working navigation Navigation allows planning trajectory while avoiding dynamic and static obstacles
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2022b

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@lukicdarkoo
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Ponekad, RPP krene bas dosta da osciluje. Dodacu primjer koji se moze reprodukovati kasnije.
@lukicdarkoo lukicdarkoo added bug Something isn't working navigation Navigation allows planning trajectory while avoiding dynamic and static obstacles labels Mar 1, 2022
@lukicdarkoo lukicdarkoo added this to the 2022b milestone Mar 1, 2022
@angstrem98
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Ovo je postavljeno u RPP parametrima nakon skorasnjeg PR: max_angular_accel: 4.5
U fajlu mep3_bringup/resource/ros2_control_big.yaml postoje ogranicenja: angular.z.max_acceleration: 4.0.
Dakle zahteva se vece ubrzanje od moguceg i ovo sigurno predstavlja problem, ali mozda nije resenje za oscilacije koje postoje (svakako treba da se ovo resi - parametar u RPP mora biti manji ili jednak od limita u diff_drive_controller).

Moguce da je problem zbog malog lookahead, kad bude okacen primer isprobacu sta treba.

@angstrem98
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PR #106 treba da resi i problem oscilacije. Jerk limiti su bili niski i robot nije mogao ostrije da skrene tako da sam dozvolio veci jerk.

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bug Something isn't working navigation Navigation allows planning trajectory while avoiding dynamic and static obstacles
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@lukicdarkoo @angstrem98