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Fix the problem of pitch feedforward #195

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Merged
YoujianWu merged 1 commit into from
Apr 27, 2025
Merged

Fix the problem of pitch feedforward #195

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3 changes: 2 additions & 1 deletion rm_gimbal_controllers/src/gimbal_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -112,6 +112,7 @@ bool Controller::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& ro

ctrls_.insert(std::make_pair(axis, std::make_unique<effort_controllers::JointVelocityController>()));
pid_pos_.insert(std::make_pair(axis, std::make_unique<control_toolbox::Pid>()));
pos_des_in_limit_.insert(std::make_pair(axis, true));
pos_state_pub_.insert(std::make_pair(
axis, std::make_unique<realtime_tools::RealtimePublisher<rm_msgs::GimbalPosState>>(nh, "pos_state", 1)));

Expand Down Expand Up @@ -207,7 +208,7 @@ void Controller::setDes(const ros::Time& time, double yaw_des, double pitch_des)
odom2gimbal_des.setRPY(0, pitch_des, yaw_des);
tf2::Quaternion base2gimbal_des = odom2base.inverse() * odom2gimbal_des;
for (const auto& it : joint_urdfs_)
pos_des_in_limit_.insert(std::make_pair(it.first, setDesIntoLimit(base2gimbal_des, it.second, base2gimbal_des)));
pos_des_in_limit_[it.first] = setDesIntoLimit(base2gimbal_des, it.second, base2gimbal_des);
odom2gimbal_des_.transform.rotation = tf2::toMsg(odom2base * base2gimbal_des);
odom2gimbal_des_.header.stamp = time;
robot_state_handle_.setTransform(odom2gimbal_des_, "rm_gimbal_controllers");
Expand Down
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