Fix platooning_control #2417
Fix platooning_control #2417
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| @@ -359,7 +359,7 @@ namespace platooning_control | |||
| double dx1 = trajectory_points[trajectory_points.size()-1].x - trajectory_points[0].x; | |||
| double dy1 = trajectory_points[trajectory_points.size()-1].y - trajectory_points[0].y; | |||
| double d1 = sqrt(dx1*dx1 + dy1*dy1); | |||
| double t1 = rclcpp::Time((trajectory_points[trajectory_points.size()-1].target_time)).seconds() - rclcpp::Time(trajectory_points[0].target_time).nanoseconds(); | |||
| double t1 = rclcpp::Time((trajectory_points[trajectory_points.size()-1].target_time)).seconds() - rclcpp::Time(trajectory_points[0].target_time).seconds(); | |||
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changing from nanosec to sec, has any impact somewhere else?
I dont remember if it does
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I kept this in seconds since were using seconds precision in the earlier implementation and the speed is being calculcated as m/s
But using nanoseconds instead is probably better to do since rounding of mps can have greater impact on mph speed. Updated
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This PR also needs https://github.com/usdot-fhwa-stol/carma-vehicle-calibration/pull/127, which updates parameters for pure pursuit Update: The PR above was closed - as logic to handle multiple activated plugins will be added as a separate story. |
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Now that the scope of changes has been adjusted for this PR (i.e. not introducing a command timeout), can we please update the PR description, and also mention the two specific fixes that are included in this changeset (changing the control topic for platooning_control and fixing the seconds vs. nanoseconds bug)? |
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PR Details
This PR adds a fix to the platooning_control node which was recently ported to ros2.
Fixes a bug in delta time calculation for trajectory speed and updates the duration to be in nanoseconds.
Fixes the control topic in the trajectory_executor node to reference updated name of platooning_control package.
Description
Related GitHub Issue
Related Jira Key
https://usdot-carma.atlassian.net/browse/CAR-6012
Motivation and Context
How Has This Been Tested?
Types of changes
Checklist: