Added a speed_deadband parameter.

cfg/ModelCarControl.cfg

@@ -43,6 +43,7 @@ gen.add("speed_Kp",         double_t,  0,           "Proportional constant of th
 gen.add("speed_Ki",         double_t,  0,           "Integral constant of the speed PID",         0.0,    0.0, 1000.0)
 gen.add("speed_Kd",         double_t,  0,           "Differential constant of the speed PID",     0.0,    0.0, 1000.0)
 gen.add("speed_i_max",      double_t,  0,           "Maximum integral value pf the speed PID",    10.0,   0.0, 1000.0)
+gen.add("speed_deadband",   double_t,  0,           "Minimum valid speed command",                0.1,    0.1, 1.0)
 gen.add("watchdog_time",    double_t,  0,           "Maximum time between two control commands",  0.5,    0.0, 1000.0)
 gen.add("axel_distance",    double_t,  0,           "Distance between the two axels in meters",   0.3662, 0.0, 10.0)
 gen.add("max_steer_angle",  double_t,  0,           "Maximum steering angle",                     0.4,    -1.0,1.0)

config/car1_params.yaml

@@ -3,6 +3,7 @@ speed_Kp: 20.0
 speed_Ki: 10.0
 speed_Kd: 0.05
 speed_i_max: 20.0
+speed_deadband: 0.1
 watchdog_time: 0.5
 axel_distance: 0.3662
 max_steer_angle: 0.4

config/car2_params.yaml

@@ -3,6 +3,7 @@ speed_Kp: 20.0
 speed_Ki: 10.0
 speed_Kd: 0.05
 speed_i_max: 20.0
+speed_deadband: 0.1
 watchdog_time: 0.5
 axel_distance: 0.3662
 max_steer_angle: 0.4

config/params.yaml

@@ -3,6 +3,7 @@ speed_Kp: 20.0
 speed_Ki: 10.0
 speed_Kd: 0.05
 speed_i_max: 20.0
+speed_deadband: 0.1
 watchdog_time: 0.5
 axel_distance: 0.3662
 max_steer_angle: 0.4

src/model_car_control_alg_node.cpp

@@ -76,7 +76,7 @@ void ModelCarControlAlgNode::mainNodeThread(void)
       }
       else
       {
-        if(this->linear_speed_control==0.0)
+        if(fabs(this->linear_speed_control)<this->config_.speed_deadband)
         {
           this->control_AckermannDriveStamped_msg_.drive.speed=0.0;
           this->speed_pid.reset();