Minimising the steering angle difference between previous and next angle#1
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luceharris merged 1 commit intoethz-asl:swerve-drivefrom Jan 30, 2024
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…sation that prevents continuous steering joints from moving more than a quatre turn. Modified the test yaml and added a description of the new param. Added new param enable_min_steering_difference to enable or disable this new functionality, default off.
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Taking a pull request from the base repo and merging here.
This enhancement makes the controller behave optimally when selecting steering angles on continuous joint steering based robots. More information on this can be found in this comment.