fixed the problem that /odom/twist is too small #1001
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
added 2 commits
January 2, 2024 18:46
firefly1250
changed the title
|
I really would like to get this merged! |
25 tasks
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This fixes #977 .
Problem
In the duration calculation, only the "nanosec" part of "current time" was used and "sec" part was ignored. On the other hand both "nanosec" and "sec" part of "last time" were used correctly.
Therefore, duration became a negative value with a large absolute value, and as a result, the twist had a small absolute value with the opposite sign.
Solution
Fixed calculation of duration to be correct.