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Recreate vel cmd components each cycle #141

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Recreate vel cmd components each cycle #141

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9535dd3
Recreate vel cmd components each cycle
mxgrey Apr 25, 2025
aadab42
Debugging elevator free-falling issue
mxgrey Apr 29, 2025
e64c8b8
Fix lift behavior
mxgrey Apr 30, 2025
1f87f57
Minor cleanup
mxgrey Apr 30, 2025
d1e0b92
Remove style tests
mxgrey Apr 30, 2025
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17 changes: 7 additions & 10 deletions rmf_robot_sim_gz_plugins/src/slotcar.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -211,9 +211,6 @@ void SlotcarPlugin::Configure(const Entity& entity,
enableComponent<components::Pose>(ecm, entity);
// Initialize Bounding Box component
enableComponent<components::AxisAlignedBox>(ecm, entity);
// Initialize Linear/AngularVelocityCmd components to drive slotcar
enableComponent<components::LinearVelocityCmd>(ecm, entity);
enableComponent<components::AngularVelocityCmd>(ecm, entity);

// Respond to requests asking for height (e.g. for dispenser to dispense object)
const std::string height_srv_name =
Expand All @@ -239,11 +236,6 @@ void SlotcarPlugin::send_control_signals(EntityComponentManager& ecm,
const double target_linear_speed_destination,
const std::optional<double>& max_linear_velocity)
{
auto lin_vel_cmd =
ecm.Component<components::LinearVelocityCmd>(_entity);
auto ang_vel_cmd =
ecm.Component<components::AngularVelocityCmd>(_entity);

// Open loop control
double v_robot = _prev_v_command;
double w_robot = _prev_w_command;
Expand All @@ -252,8 +244,13 @@ void SlotcarPlugin::send_control_signals(EntityComponentManager& ecm,
displacements, dt, target_linear_speed_now,
target_linear_speed_destination, max_linear_velocity);

lin_vel_cmd->Data()[0] = target_vels[0];
ang_vel_cmd->Data()[2] = target_vels[1];
gz::math::Vector3d lin_vel_cmd(0, 0, 0);
lin_vel_cmd[0] = target_vels[0];
gz::math::Vector3d ang_vel_cmd(0, 0, 0);
ang_vel_cmd[2] = target_vels[1];

ecm.SetComponentData<components::LinearVelocityCmd>(_entity, lin_vel_cmd);
ecm.SetComponentData<components::AngularVelocityCmd>(_entity, ang_vel_cmd);

// Update previous velocities
_prev_v_command = target_vels[0];
Expand Down