Rotation Shim closed_loop param #639
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Signed-off-by: RBT22 <[email protected]>
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| Description | ||
| If false, the rotationShimController will use the last commanded velocity as the next iteration's current velocity. When acceleration limits are set appropriately, this is a good assumption. If true, it will use odometry to estimate the robot's current speed. In this case it is important that the source is high-rate and low-latency. |
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| If false, the rotationShimController will use the last commanded velocity as the next iteration's current velocity. When acceleration limits are set appropriately, this is a good assumption. If true, it will use odometry to estimate the robot's current speed. In this case it is important that the source is high-rate and low-latency. | |
| If false, the rotationShimController will use the last commanded velocity as the next iteration's current velocity. When acceleration limits are set appropriately and the robot's controllers are responsive, this can be a good assumption. If true, it will use odometry to estimate the robot's current speed. In this case it is important that the source is high-rate and low-latency to account for control delay. |
migration/Jazzy.rst
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| Rotation Shim Open-loop Control | ||
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| The parameter ``closed_loop`` was introduced to the Rotation Shim Controller to allow users to choose between open-loop and closed-loop control. When set to ``false``, the controller will use the last commanded velocity as the next iteration's current velocity. When acceleration limits are set appropriately, this is a good assumption and doesn't require high-rate, low-latency odometry. |
Signed-off-by: RBT22 <[email protected]>
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Add docs for ros-navigation/navigation2#4880