feat(control): introduce RAMSETE controller to improve tracking stability#127
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xinghanDM wants to merge 1 commit into
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feat(control): introduce RAMSETE controller to improve tracking stability#127xinghanDM wants to merge 1 commit into
xinghanDM wants to merge 1 commit into
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looks interesting. |
| self.occupancy_grid_pub = self.create_publisher(OccupancyGrid, '/planning/occupancy_grid', 10) | ||
| self.depth_sub = message_filters.Subscriber(self, Image, '/slam/depth') | ||
| self.pose_sub = message_filters.Subscriber(self, Odometry, '/slam/odometry_visual') | ||
| self.pose_sub = message_filters.Subscriber(self, Odometry, '/slam/odometry') |
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this should keep /slam/odometry_visual on pr
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Motivation
Pure Pursuit controller in cmd_vel tracking under frequent trajectory updates.
Change
Current Status
TODO
ref:
https://wiki.purduesigbots.com/software/control-algorithms/ramsete
https://www.youtube.com/watch?v=bU9k8lTjA7I