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Update twist_filter.cpp #1880

Merged
merged 1 commit into from
Jan 12, 2019
Merged

Update twist_filter.cpp #1880

merged 1 commit into from
Jan 12, 2019

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snehagn
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@snehagn snehagn commented Jan 11, 2019 •
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Fix negative max_v values for negative omega.

Status

PRODUCTION / DEVELOPMENT

Description

The max_v values is negative on right turns since omega is negative.

Steps to Test or Reproduce

  1. Build Autoware with as_interface (branch: feature/demo_astuff) and AS Speed and Steering Control (closed source - Autonomoustuff)
  2. Generate waypoints with right turns and test waypoint following - hard stops on turn for negative omega (negative velocity values get cut off at 0 when going through the as_interface)

The car should hard stop at right turns.

@aohsato @shinpei0208

@snehagn
Update twist_filter.cpp
9c02b8a 
Fix negative max_v values for negative omega.
@kfunaoka kfunaoka requested a review from YamatoAndo January 12, 2019 03:51
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@YamatoAndo Is this the fix you suggested?

@kfunaoka kfunaoka requested a review from yn-mrse January 12, 2019 07:47
@kfunaoka kfunaoka merged commit 01f7dd9 into autowarefoundation:develop Jan 12, 2019
@kfunaoka
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@snehagn Thank you very much for your contribution!

@yn-mrse Thank you for your review!

anubhavashok pushed a commit to NuronLabs/autoware.ai that referenced this pull request Sep 7, 2021
@snehagn @kfunaoka
[Fix] negative max_v values for negative omega (autowarefoundation#1880)
942dd34
@mitsudome-r mitsudome-r added the version:autoware-ai Autoware.AI label Jun 14, 2022
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@yn-mrse yn-mrse yn-mrse approved these changes

@YamatoAndo YamatoAndo Awaiting requested review from YamatoAndo

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4 participants
@snehagn @kfunaoka @yn-mrse @mitsudome-r