RetroSearch Browse

Showing content from https://github.com/nasa-jpl/osr-rover-code/commit/c8a7ea60dbc2bee105cc91bbc76d0d5aeaa4f16a below:

File tree Expand file treeCollapse file tree 1 file changed

-1

lines changed

Filter options

Expand file treeCollapse file tree 1 file changed

-1

lines changed Original file line number Diff line number Diff line change


 @@ -324,7 +324,12 @@ def forward_kinematics(self):

324 324


 drive_angular_velocity = (self.curr_velocities['drive_left_middle'] + self.curr_velocities['drive_right_middle']) / 2.

325 325


 self.curr_twist.twist.linear.x = drive_angular_velocity * self.wheel_radius

326 326


 # now calculate angular velocity from its relation with linear velocity and turning radius

327

-
 self.curr_twist.twist.angular.z = self.curr_twist.twist.linear.x / self.curr_turning_radius

327

+
 try:

328

+
 self.curr_twist.twist.angular.z = self.curr_twist.twist.linear.x / self.curr_turning_radius

329

+
 except ZeroDivisionError:

330

+
 rospy.logwarn_throttle(1, "Current turning radius was calculated as zero which"

331

+
 "is an illegal value. Check your wheel calibration."

332

+
 self.curr_twist.twist.angular.z = 0. # turning in place is currently unsupported

328 333 329 334 330 335


 if __name__ == '__main__':

You can’t perform that action at this time.

RetroSearch is an open source project built by @garambo | Open a GitHub Issue

Search and Browse the WWW like it's 1997 | Search results from DuckDuckGo

HTML: 3.2 | Encoding: UTF-8 | Version: 0.7.4