From f775d717c10af3f38f10c06710974f5c43fc8c9c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Mart=C3=AD=20Morta=20Garriga?= <mmorta@iri.upc.edu>
Date: Thu, 19 Jun 2014 13:18:56 +0000
Subject: [PATCH] TO TEST Afegit un threshold per tal d'evitar problemes amb
distancies masssa petites del urg_node
---
src/safe_cmd_alg_node.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/safe_cmd_alg_node.cpp b/src/safe_cmd_alg_node.cpp
index 6a2e6d4..624bfc2 100644
--- a/src/safe_cmd_alg_node.cpp
+++ b/src/safe_cmd_alg_node.cpp
@@ -174,7 +174,7 @@ float SafeCmdAlgNode::compute_max_velocity_(const sensor_msgs::LaserScan::ConstP
ROS_DEBUG_STREAM("compute_max_velocity frame: " << scan->header.frame_id <<
" min range: " << min_range << " at " << min_pos << " of " << scan->ranges.size());
- if (min_range >= min_dist_)
+ if (min_range >= min_dist_ && min_range > 0.02)
max_velocity = min_range / collision_time_;
return max_velocity;
--
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