加減速挙動の改善 (#645)

ibis-ssl · Dec 15, 2024 · fb7a18a · fb7a18a
1 parent 53c38f8
commit fb7a18a
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/crane_local_planner/src/rvo2_planner.cpp b/crane_local_planner/src/rvo2_planner.cpp
@@ -273,6 +273,11 @@ crane_msgs::msg::RobotCommands RVO2Planner::extractRobotCommandsFromRVOSim(
         original_command.position_target_mode.front().target_y - robot->pose.pos.y());
       if (distance < original_command.position_target_mode.front().position_tolerance) {
         vel = Velocity::Zero();
+      } else if (
+        original_command.local_planner_config.terminal_velocity == 0. &&
+        original_command.position_target_mode.front().position_tolerance == 0. && distance < 0.03) {
+        // terminal_velocityが0のときはデフォルトで3cmのトレランス
+        vel = Velocity::Zero();
       }
     }
 

diff --git a/crane_sender/src/ibis_sender_node.cpp b/crane_sender/src/ibis_sender_node.cpp
@@ -156,7 +156,7 @@ class IbisSenderNode : public SenderBase
       packet.enable_chip = command.chip_enable;
       packet.lift_dribbler = command.lift_up_dribbler_flag;
       packet.stop_emergency = command.stop_flag;
-      packet.acceleration_limit = command.local_planner_config.max_acceleration;
+      packet.acceleration_limit = command.local_planner_config.max_acceleration + 1.0;
       packet.linear_velocity_limit = command.local_planner_config.max_velocity;
       packet.angular_velocity_limit = 10.;
       packet.prioritize_move = true;