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[smoother] potentially invalid first "last command" when not using velocity feedback #95

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bit-pirate opened this issue Feb 3, 2016 · 2 comments
Open

[smoother] potentially invalid first "last command" when not using velocity feedback #95

bit-pirate opened this issue Feb 3, 2016 · 2 comments

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@bit-pirate
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When no velocity feedback is used, it looks like the last_cmd_vel is not valid until the smoother did one spin. That is, last_cmd_vel is after start up 0 and afterwards what ever the last command was.

This could result into a strange first smoothing result.
@bit-pirate
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FYI @corot

@AlexReimann not important for us right now, since we usually use odometry feedback.

@AlexReimann
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We don't use odometry feedback usually because the long execution delay..

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@bit-pirate @AlexReimann