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Min and max parameters for velocity, acceleration, and jerk apply to linear and angular separately. #1229

Merged
merged 6 commits into from
Jan 11, 2022
Merged

Min and max parameters for velocity, acceleration, and jerk apply to linear and angular separately. #1229

merged 6 commits into from
Jan 11, 2022

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roni-kreinin
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🎉 New feature

Closes #1227

Summary

min_velocity is now separated into min_linear_velocity and min_angular_velocity. Same for other parameters.

Test it

Use DiffDrive plugin with the new parameter tags. i.e. <min_linear_velocity>1.0</min_linear_velocity>

Checklist

  • Signed all commits for DCO
  • Added tests
  • Added example and/or tutorial
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

@github-actions github-actions bot added the 🏢 edifice Ignition Edifice label Dec 2, 2021
@roni-kreinin roni-kreinin mentioned this pull request Dec 2, 2021
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chapulina
chapulina suggested changes Dec 3, 2021
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Thank you for the contribution!

It would be good to update the tests:

https://github.com/ignitionrobotics/ign-gazebo/blob/c08fc87e2b965ab388f6dc4a74f8668213ecae8f/test/worlds/diff_drive.sdf#L230-L233

https://github.com/ignitionrobotics/ign-gazebo/blob/c08fc87e2b965ab388f6dc4a74f8668213ecae8f/test/worlds/diff_drive_custom_topics.sdf#L232-L235

And it would be interesting to use the parameters in the examples:

https://github.com/ignitionrobotics/ign-gazebo/blob/c08fc87e2b965ab388f6dc4a74f8668213ecae8f/examples/worlds/diff_drive.sdf#L247-L255

https://github.com/ignitionrobotics/ign-gazebo/blob/c08fc87e2b965ab388f6dc4a74f8668213ecae8f/examples/worlds/diff_drive_skid.sdf#L340-L349

src/systems/diff_drive/DiffDrive.cc Show resolved Hide resolved
chapulina
chapulina reviewed Dec 14, 2021
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Thanks for iterating, looks good to me 👍 Could you document the new params on DiffDrive.hh? Then it will show up here: https://ignitionrobotics.org/api/gazebo/5.3/classignition_1_1gazebo_1_1systems_1_1DiffDrive.html#details

Also, please make sure you sign all your commits for the DCO check to pass.

@roni-kreinin
Min and max parameters for velocity, acceleration, and jerk apply to …
687d378 
…linear and angular separately.

Signed-off-by: Roni Kreinin <[email protected]>
@roni-kreinin
Updated DiffDrive.cc to retain old parameters. They are overwritten i…
63fbab7 
…f new parameters are used.

Added new parameters to example diff_drive worlds
Added new parameters to test diff_drive worlds

Signed-off-by: Roni Kreinin <[email protected]>
@roni-kreinin
Documented parameter changes
a32e01d 
Signed-off-by: Roni Kreinin <[email protected]>
chapulina
chapulina approved these changes Dec 14, 2021
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Thanks for the quick iteration, the changes look great 👍

@chapulina
Merge branch 'ign-gazebo5' into roni/5
4573602 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
Satisfy code checker
679503b 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
more codecheck
83fc98b 
Signed-off-by: Louise Poubel <[email protected]>
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The ABI checker failure is a false positive:

The value of constant IGN_GAZEBO_GUI_PLUGIN_INSTALL_DIR has been changed from "/usr/local/destination_branch/lib/ign-gazebo-5/plugins/gui" to "/usr/local/source_branch/lib/ign-gazebo-5/plugins/gui".

@chapulina chapulina merged commit fe8c1ed into gazebosim:ign-gazebo5 Jan 11, 2022
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This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-03-01-citadel-edifice-fortress/1313/1

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This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1

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