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Fix control errors #47

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Fix control errors #47

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29368b2
robot now stops when path reached, also slows down in turns to preven…
chenggaol Feb 4, 2026
a9b4ff4
messed up a comment
chenggaol Feb 4, 2026
edc280c
changed ki kd
chenggaol Feb 4, 2026
c065c24
pre-commit fixes
chenggaol Feb 4, 2026
4863dd6
nevermind now i did
chenggaol Feb 4, 2026
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4 changes: 3 additions & 1 deletion src/robot/control/src/control_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -138,7 +138,9 @@ geometry_msgs::msg::Twist ControlCore::calculateControlCommand(
// Or just constant linear velocity as per prompt "make sure the robot follows the path"

// Just use the configured linear velocity
twist.linear.x = linear_velocity_;
double speed_factor =
1.0 - (std::abs(output) / max_steering_angle_ * 0.5); // during turns slows down to avoid overshoot
twist.linear.x = linear_velocity_ * speed_factor;
twist.angular.z = output;

return twist;
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7 changes: 5 additions & 2 deletions src/robot/control/src/control_node.cpp
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Expand Up @@ -48,8 +48,8 @@ void ControlNode::processParameters()
this->declare_parameter<std::string>("cmd_vel_topic", "/cmd_vel");
this->declare_parameter<int>("control_period_ms", 100);
this->declare_parameter<double>("kp", 1.0);
this->declare_parameter<double>("ki", 0.0);
this->declare_parameter<double>("kd", 0.0);
this->declare_parameter<double>("ki", 0.6);
this->declare_parameter<double>("kd", 0.4);
this->declare_parameter<double>("max_steering_angle", 1.5);
this->declare_parameter<double>("linear_velocity", 1.5);

Expand Down Expand Up @@ -87,6 +87,9 @@ void ControlNode::followPath()
{
if (control_.isPathEmpty()) {
RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 3000, "Path is empty. Waiting for new path.");
// Publish stop command to halt the robot
geometry_msgs::msg::Twist stop_cmd;
cmd_vel_publisher_->publish(stop_cmd);
return;
}

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