Fix the velocity smoother being stuck when the deadband is too high (#…

…3690) (#3714) * Move last_cmd update before deadband * fix lint (cherry picked from commit cb34d0c) Co-authored-by: BriceRenaudeau <[email protected]>
ros-navigation · Jul 26, 2023 · 123e367 · 123e367
1 parent d79c210
commit 123e367
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/nav2_velocity_smoother/src/velocity_smoother.cpp b/nav2_velocity_smoother/src/velocity_smoother.cpp
@@ -299,13 +299,14 @@ void VelocitySmoother::smootherTimer()
     current_.linear.y, command_->linear.y, max_accels_[1], max_decels_[1], eta);
   cmd_vel->angular.z = applyConstraints(
     current_.angular.z, command_->angular.z, max_accels_[2], max_decels_[2], eta);
+  last_cmd_ = *cmd_vel;
 
   // Apply deadband restrictions & publish
   cmd_vel->linear.x = fabs(cmd_vel->linear.x) < deadband_velocities_[0] ? 0.0 : cmd_vel->linear.x;
   cmd_vel->linear.y = fabs(cmd_vel->linear.y) < deadband_velocities_[1] ? 0.0 : cmd_vel->linear.y;
   cmd_vel->angular.z = fabs(cmd_vel->angular.z) <
     deadband_velocities_[2] ? 0.0 : cmd_vel->angular.z;
-  last_cmd_ = *cmd_vel;
+
   smoothed_cmd_pub_->publish(std::move(cmd_vel));
 }