From 9700d727f107116d7cd39a0d433f662e6a96a0d3 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 10 Nov 2021 12:32:29 +0100
Subject: [PATCH] Solved a bug in the control ROS node: when the watchdog was
active, the steering command alternated between 0 and the last steering angle
received.
---
src/model_car_control_alg_node.cpp | 1 +
1 file changed, 1 insertion(+)
diff --git a/src/model_car_control_alg_node.cpp b/src/model_car_control_alg_node.cpp
index b4187d3..be966d3 100644
--- a/src/model_car_control_alg_node.cpp
+++ b/src/model_car_control_alg_node.cpp
@@ -62,6 +62,7 @@ void ModelCarControlAlgNode::mainNodeThread(void)
this->control_AckermannDriveStamped_msg_.drive.jerk=0.0;
this->control_watchdog.reset(ros::Duration(this->config_.watchdog_time));
this->linear_speed_control=0.0;
+ this->steer_angle_control=0.0;
first=true;
}
else
--
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