remove setting curr_cmd to zero when cmd_dt is negative to avoid abru…

…pt changes in control
ros-controls · Jun 10, 2021 · 1e8bf64 · 1e8bf64
1 parent b69548f
commit 1e8bf64
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diff --git a/ackermann_steering_controller/src/ackermann_steering_controller.cpp b/ackermann_steering_controller/src/ackermann_steering_controller.cpp
@@ -325,8 +325,6 @@ namespace ackermann_steering_controller{
     if(cmd_dt < 0)
     {
       ROS_ERROR("Invalid time interval, delta time cannot be negative");
-      curr_cmd.lin = 0.0;
-      curr_cmd.ang = 0.0;
     }
 
     limiter_lin_.limit(curr_cmd.lin, last0_cmd_.lin, last1_cmd_.lin, cmd_dt);

diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -474,8 +474,6 @@ namespace diff_drive_controller{
     if(cmd_dt < 0)
     {
       ROS_ERROR("Invalid time interval, delta time cannot be negative");
-      curr_cmd.lin = 0.0;
-      curr_cmd.ang = 0.0;
     }
 
     limiter_lin_.limit(curr_cmd.lin, last0_cmd_.lin, last1_cmd_.lin, cmd_dt);

diff --git a/four_wheel_steering_controller/src/four_wheel_steering_controller.cpp b/four_wheel_steering_controller/src/four_wheel_steering_controller.cpp
@@ -366,12 +366,6 @@ namespace four_wheel_steering_controller{
     if(cmd_dt < 0)
     {
       ROS_ERROR("Invalid time interval, delta time cannot be negative");
-      curr_cmd_twist.lin_x = 0.0;
-      curr_cmd_twist.lin_y = 0.0;
-      curr_cmd_twist.ang = 0.0;
-      curr_cmd_4ws.lin = 0.0;
-      curr_cmd_4ws.front_steering = 0.0;
-      curr_cmd_4ws.rear_steering = 0.0;
     }
 
     const double angular_speed = odometry_.getAngular();