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fix odometry issue in diff_drive_controller #331

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Merged
merged 5 commits into from
May 3, 2022
Merged

fix odometry issue in diff_drive_controller #331

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247da67
fix odometry issue in diff_drive_controller
roncapat Apr 16, 2022
d788683
Make update_dt variable appear earlier in code
roncapat Apr 16, 2022
b1aefc5
Reformat
roncapat Apr 16, 2022
81f956b
Reformat
roncapat Apr 16, 2022
304c09c
Simplify time/period occurrences
roncapat May 1, 2022
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10 changes: 6 additions & 4 deletions diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -178,6 +178,9 @@ controller_interface::return_type DiffDriveController::update(
double & linear_command = command.twist.linear.x;
double & angular_command = command.twist.angular.z;

const auto update_dt = current_time - previous_update_timestamp_;
previous_update_timestamp_ = current_time;

// Apply (possibly new) multipliers:
const auto wheels = wheel_params_;
const double wheel_separation = wheels.separation_multiplier * wheels.separation;
Expand Down Expand Up @@ -218,7 +221,9 @@ controller_interface::return_type DiffDriveController::update(
}
else
{
odometry_.updateFromVelocity(left_feedback_mean, right_feedback_mean, current_time);
odometry_.updateFromVelocity(
left_feedback_mean*update_dt.seconds(), right_feedback_mean*update_dt.seconds(),
current_time);
}
}

Expand Down Expand Up @@ -258,9 +263,6 @@ controller_interface::return_type DiffDriveController::update(
}
}

const auto update_dt = current_time - previous_update_timestamp_;
previous_update_timestamp_ = current_time;

auto & last_command = previous_commands_.back().twist;
auto & second_to_last_command = previous_commands_.front().twist;
limiter_linear_.limit(
Expand Down