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Clear acceleration on e-stop #149

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merged 1 commit into from
Jul 24, 2023
Merged

Clear acceleration on e-stop #149

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2 changes: 2 additions & 0 deletions panther_driver/src/driver_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -428,6 +428,8 @@ def _safety_timer_cb(self, *args) -> None:

def _e_stop_cb(self, data: Bool) -> None:
with self._lock:
if data.data:
self._velocity_smoother.reset()
self._e_stop_cliented = data.data

def _cmd_vel_cb(self, data: Twist) -> None:
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5 changes: 5 additions & 0 deletions panther_driver/src/velocity_smoother.py
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Expand Up @@ -79,6 +79,11 @@ def get_smooth_velocity(
self._robot_vel_theta = output_vel.angular.z

return output_vel

def reset(self) -> None:
self._robot_vel_x = 0.0
self._robot_vel_y = 0.0
self._robot_vel_theta = 0.0

def _accel_limiter(
self, cmd_vel: float, robot_vel: float, acc_factor: float, decel_factor
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