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Add guard to dt negative case and break the controller for safety #563

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Add guard to dt negative case and break the controller for safety #563

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b61fb3d
guard dt negative case and break the controller
May 10, 2021
b69548f
set cmd_dt to zero in case period is negative
May 25, 2021
1e8bf64
remove setting curr_cmd to zero when cmd_dt is negative to avoid abru…
Jun 10, 2021
db98eae
correct negative time check for error log
Sep 23, 2021
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6 changes: 5 additions & 1 deletion ackermann_steering_controller/src/ackermann_steering_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -321,7 +321,11 @@ namespace ackermann_steering_controller{
}

// Limit velocities and accelerations:
const double cmd_dt(period.toSec());
const double cmd_dt = (period.toSec() > 0) ? period.toSec() : 0.0;
if(period.toSec() < 0)
{
ROS_ERROR("Invalid time interval, delta time cannot be negative");
}

limiter_lin_.limit(curr_cmd.lin, last0_cmd_.lin, last1_cmd_.lin, cmd_dt);
limiter_ang_.limit(curr_cmd.ang, last0_cmd_.ang, last1_cmd_.ang, cmd_dt);
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6 changes: 5 additions & 1 deletion diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -470,7 +470,11 @@ namespace diff_drive_controller{
}

// Limit velocities and accelerations:
const double cmd_dt(period.toSec());
const double cmd_dt = (period.toSec() > 0) ? period.toSec() : 0.0;
if(period.toSec() > 0 < 0)
{
ROS_ERROR("Invalid time interval, delta time cannot be negative");
}

limiter_lin_.limit(curr_cmd.lin, last0_cmd_.lin, last1_cmd_.lin, cmd_dt);
limiter_ang_.limit(curr_cmd.ang, last0_cmd_.ang, last1_cmd_.ang, cmd_dt);
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6 changes: 5 additions & 1 deletion four_wheel_steering_controller/src/four_wheel_steering_controller.cpp
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Expand Up @@ -362,7 +362,11 @@ namespace four_wheel_steering_controller{
curr_cmd_4ws.rear_steering = 0.0;
}

const double cmd_dt(period.toSec());
const double cmd_dt = (period.toSec() > 0) ? period.toSec() : 0.0;
if(period.toSec() < 0)
{
ROS_ERROR("Invalid time interval, delta time cannot be negative");
}

const double angular_speed = odometry_.getAngular();
const double steering_track = track_-2*wheel_steering_y_offset_;
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