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Fix open-loop odometry using unbounded commands by applying SpeedLimiter first #2260

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Merged
christophfroehlich merged 4 commits into from
Apr 2, 2026
+11 −10
Merged

Fix open-loop odometry using unbounded commands by applying SpeedLimiter first #2260

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978ae25
SpeedLimiter before odometry update
Saitejabojja07 Mar 29, 2026
77397b8
Deleted .vscode directory
Saitejabojja07 Mar 30, 2026
472f877
Fix : Updated Speed limits before Odom
Saitejabojja07 Mar 31, 2026
4dd6e08
Merge branch 'master' into diffdrive
christophfroehlich Apr 2, 2026
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19 changes: 9 additions & 10 deletions diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -164,6 +164,15 @@ controller_interface::return_type DiffDriveController::update_and_write_commands
const double right_wheel_radius = params_.right_wheel_radius_multiplier * params_.wheel_radius;

bool odometry_updated = false;
double & last_linear = previous_two_commands_.back()[0];
double & second_to_last_linear = previous_two_commands_.front()[0];
double & last_angular = previous_two_commands_.back()[1];
double & second_to_last_angular = previous_two_commands_.front()[1];

limiter_linear_->limit(linear_command, last_linear, second_to_last_linear, period.seconds());
limiter_angular_->limit(angular_command, last_angular, second_to_last_angular, period.seconds());
previous_two_commands_.pop();
previous_two_commands_.push({{linear_command, angular_command}});

// check if odometry set or reset was requested by non-RT thread
if (set_odom_requested_.load())
Expand Down Expand Up @@ -289,16 +298,6 @@ controller_interface::return_type DiffDriveController::update_and_write_commands
}
}

double & last_linear = previous_two_commands_.back()[0];
double & second_to_last_linear = previous_two_commands_.front()[0];
double & last_angular = previous_two_commands_.back()[1];
double & second_to_last_angular = previous_two_commands_.front()[1];

limiter_linear_->limit(linear_command, last_linear, second_to_last_linear, period.seconds());
limiter_angular_->limit(angular_command, last_angular, second_to_last_angular, period.seconds());
previous_two_commands_.pop();
previous_two_commands_.push({{linear_command, angular_command}});

// Publish limited velocity
if (publish_limited_velocity_ && realtime_limited_velocity_publisher_)
{
Expand Down
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