ANGULAR_MOTOR_COEFFICIENT inconsistency with the publication

[OAHC2022]

Hello,

When I was reading the paper. I came across the equation:

However, when I checked the code in here. I realized that there was inconsistency with the equations. Given the values defined in the macros, the equation in the code was

I wonder which one should I use.

Thanks

[welcome]

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[gsilano]

Hi @OAHC2022! I checked out the code. The formula at line 268 of the position_controller.cpp file is the following

\omega_i = \alpha PWM_i + q

where q is expressed in rad/s as PWM_i and \omega_i. I can understand this could be misleading as PWMs are usually measured in rounds per second and not radians per second. However, Gazebo uses the SI unit measure to express all the data. Therefore, position, linear and angular velocities are expressed in m, m/s and rad/s, respectively. For this reason, the term \pi/30 need not be taken into account.
In the paper, we preferred to refer to the same nomenclature of 43

If you take a look at the whole chain (i.e., RateController, ControlMixer, etc.), you will simply understand what I mean. If you have any other questions, please do not hesitate.

[OAHC2022]

Oh I see the change in measurement indeed is tricky.

Thank you.