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Fix gimbal vel des for track mode #199

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Merged
YoujianWu merged 2 commits into from
Jul 10, 2025
Merged

Fix gimbal vel des for track mode #199

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30ef9a7
Change the gimbal speed-des to position difference.
321Aurora Jul 5, 2025
398dea2
Fix bug of last-pos-des update.
321Aurora Jul 5, 2025
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1 change: 1 addition & 0 deletions rm_gimbal_controllers/include/rm_gimbal_controllers/gimbal_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -181,6 +181,7 @@ class Controller : public controller_interface::MultiInterfaceController<rm_cont
double publish_rate_{};
bool state_changed_{};
int loop_count_{};
double last_pos_des_[3]{ 0. };

// Transform
geometry_msgs::TransformStamped odom2gimbal_des_, odom2gimbal_, odom2base_, last_odom2base_;
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3 changes: 2 additions & 1 deletion rm_gimbal_controllers/src/gimbal_base.cpp
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Expand Up @@ -452,7 +452,8 @@ void Controller::moveJoint(const ros::Time& time, const ros::Duration& period)
tf2::doTransform(target_vel, target_vel, transform);
tf2::fromMsg(target_pos, target_pos_tf);
tf2::fromMsg(target_vel, target_vel_tf);
vel_des[2] = target_pos_tf.cross(target_vel_tf).z() / std::pow((target_pos_tf.length()), 2);
vel_des[2] = angles::shortest_angular_distance(last_pos_des_[2], pos_des[2]) / period.toSec();
last_pos_des_[2] = pos_des[2];
}
if (joint_urdfs_.find(1) != joint_urdfs_.end())
{
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