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Use steer_p_gain for UpdateVelocity steer joint speed #2355

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merged 2 commits into from
Apr 10, 2024
Merged

Use steer_p_gain for UpdateVelocity steer joint speed #2355

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f27f2ad
Use steer_p_gain for UpdateVelocity steer joint speed
retinfai Apr 3, 2024
5cc1bdd
Merge branch 'gazebosim:gz-sim8' into gz-sim8
retinfai Apr 10, 2024
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7 changes: 3 additions & 4 deletions src/systems/ackermann_steering/AckermannSteering.cc
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Expand Up @@ -885,11 +885,10 @@ void AckermannSteeringPrivate::UpdateVelocity(
double leftDelta = leftSteeringJointAngle - leftSteeringPos->Data()[0];
double rightDelta = rightSteeringJointAngle - rightSteeringPos->Data()[0];

// Simple proportional control with a gain of 1
// Simple proportional control with settable gain.
// Adding programmable PID values might be a future feature.
// Works as is for tested cases
this->leftSteeringJointSpeed = leftDelta;
this->rightSteeringJointSpeed = rightDelta;
this->leftSteeringJointSpeed = this->gainPAng * leftDelta;
this->rightSteeringJointSpeed = this->gainPAng * rightDelta;
}

//////////////////////////////////////////////////
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1 change: 0 additions & 1 deletion src/systems/ackermann_steering/AckermannSteering.hh
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Expand Up @@ -52,7 +52,6 @@ namespace systems
/// the index of the steering angle position actuator.
///
/// - `<steer_p_gain>`: Float used to control the steering angle P gain.
/// Only used for when in steering_only mode.
///
/// - `<left_joint>`: Name of a joint that controls a left wheel. This
/// element can appear multiple times, and must appear at least once.
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