Changelog for package graceful_controller_ros

0.4.8 (2023-03-06)

• fix stutter when robot velocity exceeds max_vel_x (#69) a bit of noise on the odometry can cause the robot to overshoot the max_vel_x - this would then cause us to decelerate - possibly quite hard if the decel_lim_x was high.
• Contributors: Michael Ferguson

0.4.7 (2023-02-26)

• generate linear movements if final in-place rotation is infeasible (#67)
• Contributors: Michael Ferguson

0.4.6 (2023-02-20)

• follow acceleration limits when velocity limit changes (#62)
• add angular velocity limiting control (#61) Adds max_x_to_max_theta_scale_factor which can be used to control how the angular velocity changes relative to the linear velocity when use_vel_topic feature is enabled.
• Contributors: Michael Ferguson, TrazCobalt

0.4.5 (2022-08-24)

• compute lookahead as distance along path (#55)
• Contributors: Michael Ferguson

0.4.4 (2022-08-24)

• always rotate to match desired heading (#54) If the goal tolerances are large (greater than 0.5m) the robot might end up trying to point at the goal rather than aligning with the goal heading
• Contributors: Michael Ferguson

0.4.3 (2022-06-18)

• use separate decel_lim_x for control law (#45)
• add velocity limit to goal tolerance (#44)
• fix deceleration time (#43) this reverts #6, to what is apparently the correct math
• add footprint inflation for higher speeds (#32)
  • add a feature to inflate the footprint at higher speeds
  • only update max_vel_x once per call
• initialze collision_points_ to null (#35)
• add optional visualization of colliding points (#34)
• split out hpp file, clang format (#33)
• fix bug in latch_xy_goal_tolerance (#31) While the main control loop can latch the goal (thus it will stop trying to hunt around) - that isn't understood by the isGoalReached() function - which leads to the robot wiggling back and forth for a while
• Contributors: Michael Ferguson

0.4.2 (2022-03-29)

• fix goal tolerance reset (#29)
• add latch_xy_goal_tolerance parameter (#28)
• fix orientation issue with collision checking (#27)
• Contributors: Michael Ferguson

0.4.1 (2022-03-11)

• add ability to disable orientation filtering (#26) also make everything dynamic reconfigurable
• don't crash when path is empty (#25)
• add min_lookahead parameter (#24) when the pose is very close to the robot, we can get some instability (rapid side-to-side movement due to large angular errors over small linear distances). by adding this parameter, we can instead fallback to recovery behaviors and find a better path.
• fix occasional boost::lock crash (#23)
• limit the distance between poses as filter runs (#21)
• improve the orientation filter, add tests (#20)
• Contributors: Michael Ferguson

0.4.0 (2021-06-14)

• add usage documentation (#19) also remove unused min_vel_theta parameter
• implement changes from review (#18)
  • Add collision checking during final rotation
  • Add comments about getRobotVel returning velocities
  • Rename path to simulated_path for clarity
  • Rename pose to target_pose and goal_pose (now separate variables)
  • Get rid of magic number for when to use final rotation
• simulate intial rotation properly (#17) previously, this simulated the big arc that we wouldn't follow anyways. this could cause the robot to get stuck in corners or other tight areas.
• Contributors: Michael Ferguson

0.3.1 (2021-05-27)

• add feature for final rotation (#15) if the final pose orientation is very different from the end of the path, we get a big sweeping turn. this feature uses the previous orientation to avoid that sweeping turn and instead does a final in-place rotation. Add filter and pose publisher.
• not sure how build is working without this being executable
• Contributors: Michael Ferguson

0.3.0 (2021-01-14)

• unitialized limits causes test failures (#14) limits does not initialize prune_plan to a value, causes flaky test when it ends up true (would also probably be bad on a real robot)
• Contributors: Michael Ferguson

0.2.2 (2021-01-13)

• support robot footprint (#13)
• cleanup parameters (#12)
  • drop unused parameters
  • manage parameters directly
• Contributors: Michael Ferguson

0.2.1 (2021-01-11)

• update maintainer email
• fix the buildfarm build (#8)
• Contributors: Michael Ferguson

0.2.0 (2021-01-11)

• Initial release
• Contributors: Michael Ferguson