Fix oscilation following the path - #79
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Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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Pull request overview
This PR addresses oscillation (“chattering”) between rotate-in-place and curve-following in the regulated pure pursuit controller by adding hysteresis to the rotate-to-path decision threshold, and adds regression test coverage plus documentation updates.
Changes:
- Add hysteresis to
shouldRotateToPath()by using a lower exit threshold when already rotating. - Update controller loop to pass the current rotate-in-place state into
shouldRotateToPath(). - Add a regression test and update README to document the hysteretic behavior.
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 1 comment.
| File | Description |
|---|---|
| controllers/easynav_regulated_pp_controller/src/easynav_regulated_pp_controller/RegulatedPurePursuitController.cpp | Implements hysteresis in shouldRotateToPath() and threads current rotation state through update_rt(). |
| controllers/easynav_regulated_pp_controller/include/easynav_regulated_pp_controller/RegulatedPurePursuitController.hpp | Updates shouldRotateToPath() signature to include currently_rotating. |
| controllers/easynav_regulated_pp_controller/tests/regulated_pp_controller_tests.cpp | Adds a regression test covering hysteresis behavior and toggling rotate-to-heading on/off. |
| controllers/easynav_regulated_pp_controller/README.md | Documents the new hysteresis semantics for rotate_to_heading_min_angle. |
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| /// \brief Whether the robot should rotate in place towards \p angle_to_path. | ||
| bool shouldRotateToPath(double angle_to_path) const; | ||
| bool shouldRotateToPath(double angle_to_path, bool currently_rotating) const; |
Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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Hi,
I have detected that is some cases, the controller is oscillating in these two positions:
This PR adds a hysteresys for follwing the path in these conditions.
I hope you find it cool!!