Emin/feat: depth control via cmd vel #120
Closed
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
eminmeydanoglu
force-pushed
the
emin/feature/depth-control-via-cmd-vel
branch
from
f7f5917 to
e491685
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Evasively closes #115
This PR connects cmd_vel.linear.z messages to cmd_pose.linear.z messages by integration of velocity commands over time and adding them up to cmd_pose, just like in #99
Also, since this is a very small PR, and this second change is also about depth control, I changed the inital target_depth value to -0.4 from 0.0. This will prevent the robot to try to ruah all the way up the moment we enable the controllers. Trust me, -0.4 is a carefully fine-tuned value! :)