Test path planning cmd_vel conversion #390
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Flova
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May 16, 2024
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Summary
This was done to address #366, but it seems the limiting by config parameters is already working as intended.
If we want to reduce diagonal speed, we will need to adjust parameters or reduce
cmd_vel.linear.xandcmd_vel.linear.yin cases, that both near the max.Proposed changes
Add unit test to conversion of
cmd_velTwists in path planning.The results in the test were the same with the previous code and the "simplification".
Related issues
As mentioned, #366 seems to be already working and only dependent on parameters.
Checklist
colcon build