Allow computing pose/twist from position/velocity #18
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| @@ -469,51 +484,44 @@ namespace diff_drive_controller | |||
| odometry_.setMeasCovarianceParams(k_l_, k_r_); | |||
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| // COMPUTE AND PUBLISH ODOMETRY | |||
| if (open_loop_) | |||
| // Read wheel joint positions and velocities: | |||
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I'm thinking of moving this (the reading) to the very top of the update method, so the values are readed the closest possible to the time the control cycle starts.
Now there's no problem reading before setting the dynamic params.
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Nice, LGTM |
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LGTM |
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Thanks. Note that I've just push a fix to the velocity feedback test, which now uses the param Merging... |
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…n_velocity Allow computing pose/twist from position/velocity
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This introduces the following changes:
pose_from_joint_position(default: True) andtwist_from_joint_position(default: False) params, which replace theposition_feedbackone.v_variables intodp_when their meaning is "difference of position" (or incremental position) and not velocity.