Update chassis compensation #183
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# Conflicts: # rm_gimbal_controllers/src/gimbal_base.cpp
YoujianWu
reviewed
Nov 17, 2024
| gen.add("k_chassis_vel_", double_t, 0, "Yaw chassis velocity feedforward scale", 0.0, 0, 1.0) | ||
| gen.add("a_compensation",double_t, 0,"A param of chassis_compensation", 0.0, 0, 999.0) | ||
| gen.add("b_compensation",double_t, 0,"A param of chassis_compensation", 0.0, 0, 999.0) | ||
| gen.add("c_compensation",double_t, 0,"A param of chassis_compensation", 0.0, 0, 999.0) |
YoujianWu
reviewed
Nov 17, 2024
| @@ -60,7 +60,7 @@ namespace rm_gimbal_controllers | |||
| { | |||
| struct GimbalConfig | |||
| { | |||
| double yaw_k_v_, pitch_k_v_, k_chassis_vel_; | |||
| double yaw_k_v_, pitch_k_v_, a_compensation, b_compensation, c_compensation; | |||
YoujianWu
reviewed
Nov 17, 2024
| @@ -148,6 +148,8 @@ class Controller : public controller_interface::MultiInterfaceController<rm_cont | |||
| void moveJoint(const ros::Time& time, const ros::Duration& period); | |||
| double feedForward(const ros::Time& time); | |||
| void updateChassisVel(); | |||
| double chassis_compensation; | |||
| double updateCompensation(double chassis_vel_angular_z); | |||
YoujianWu
reviewed
Nov 17, 2024
| .k_chassis_vel_ = getParam(controller_nh, "yaw/k_chassis_vel", 0.), | ||
| .a_compensation = getParam(controller_nh,"yaw/a_compensation",0.), | ||
| .b_compensation = getParam(controller_nh,"yaw/b_compensation",0.), | ||
| .c_compensation = getParam(controller_nh,"yaw/c_compensation",0.), |
YoujianWu
reviewed
Nov 17, 2024
| @@ -173,7 +175,7 @@ void Controller::update(const ros::Time& time, const ros::Duration& period) | |||
| } | |||
| catch (tf2::TransformException& ex) | |||
| { | |||
| ROS_WARN_THROTTLE(1, "%s\n", ex.what()); | |||
| ROS_WARN("%s", ex.what()); | |||
There was a problem hiding this comment.
这个不要修改主分支，ROS_WARN_THROTTLE(1, "%s\n", ex.what());
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