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cbSpeed of Trajectory Tracker #460

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HappySamuel opened this issue Apr 4, 2020 · 3 comments
Open

cbSpeed of Trajectory Tracker #460

HappySamuel opened this issue Apr 4, 2020 · 3 comments
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@HappySamuel
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Hi

I am curious of how the cbSpeed work in trajectory_tracker ? Does that means the speed (linear and rotational) changing with reference to actual vehicle actual traveling speed?

Best,
Samuel
@at-wat
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at-wat commented Jan 1, 2021

cbSpeed only changes linear speed of the output.
Basically, it just changes maximum value of linear.x in cmd_vel.

@HappySamuel
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Hi @at-wat

Can this changes applied for reverse driving?

Best,
Samuel

@at-wat
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at-wat commented Feb 26, 2021

During reverse (backward) driving, the speed will be * (-1) of the value given by cbSpeed.
(it specifies speed literally)

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@at-wat @HappySamuel