Update odometry implementation in diff_drive #1854
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Maverobot,
bijoua29,
christophfroehlich,
erickisos,
fmauch,
harderthan and
saikishor
Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## master #1854 +/- ##
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- Coverage 85.12% 84.90% -0.22%
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Files 143 143
Lines 13744 13776 +32
Branches 1201 1204 +3
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- Hits 11699 11696 -3
- Misses 1638 1673 +35
Partials 407 407
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diff_drive_controller/include/diff_drive_controller/odometry.hpp
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diff_drive_controller/include/diff_drive_controller/odometry.hpp
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Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
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Sorry for the delay in fixing the failing checks here! I was busy shifting Linux distros and had tried to make the commits that caused the checks to fail through the web. |
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Still not sure about the tryUpdateOpenLoop method, maybe @saikishor or anyone else has an opinion about that.
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
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@christophfroehlich pre-commit isn't working for me for some reason, but besides that I have made the changed you requested. If possible, could you clone the pr, and push a fix for the pre-commit? Thanks! |
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This pull request is in conflict. Could you fix it @Amronos? |
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Sorry for the delay on this! All requested changes have been made now, please review! |
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| void Odometry::integrate(const double dx, const double dheading) |
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I'd find it more meaningful to pass dt to the integration method as well, instead of delta values only?
Or we rename the method to accumulate or something.
| bool updateFromPos(const double left_pos, const double right_pos, const double dt); | ||
| bool updateFromVel(const double left_vel, const double right_vel, const double dt); | ||
| bool tryUpdateOpenLoop(const double linear_vel, const double angular_vel, const double dt); |
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- no need for const qualifier for non-ref datatypes.
- let's change the code style to snake case for new methods.
2 participants
Fixes #271.
Fixes #357.
I have updated the odometry implementation of the
diff_drive_controllerto fix the above two issues alongside improving the code's readability. This implementation is similar to that ofomni_wheel_drive_controller.I have created some new methods and deprecated the older ones.
Should I also make similar changes to other controllers? If yes, should I do that in a separate PR?