Ackermann and control node adjusted for param passing#7
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Ackermann and control node adjusted for param passing#7
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alyashour
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Feb 13, 2026
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alyashour
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It's likely this isn't needed anymore, closing for now.
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| // Safety check if controller is initialized | ||
| if (!ackermann_controller_) { | ||
| RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 5000, "Controller not initialized!"); | ||
| return; | ||
| } | ||
|
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Not best to do this in every loop, should be checked once during init.
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Merge Request / Pull Request
Summary of Changes
Allows control to take in ros2 params for config path to load values used for ackermann controller. Uses delayed initalization, so defaults are loaded first and then overwritten based on config file. Otherwise, if file can't be laoded defaults are continued to be used
Type of Change
Checklist (to be completed before review)
Related Issue / Task
Notes / Additional Context
Any context for reviewers (limitations, known issues, future work)