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Fix open-loop odometry using unbounded commands by applying SpeedLimiter first (backport #2260) #2277

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Merged
christophfroehlich merged 1 commit into from
Apr 2, 2026
+11 −10
Merged

Fix open-loop odometry using unbounded commands by applying SpeedLimiter first (backport #2260) #2277

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21 changes: 11 additions & 10 deletions diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -155,6 +155,17 @@ controller_interface::return_type DiffDriveController::update_and_write_commands
return controller_interface::return_type::OK;
}

// Apply speed limits and update buffers
double & last_linear = previous_two_commands_.back()[0];
double & second_to_last_linear = previous_two_commands_.front()[0];
double & last_angular = previous_two_commands_.back()[1];
double & second_to_last_angular = previous_two_commands_.front()[1];

limiter_linear_->limit(linear_command, last_linear, second_to_last_linear, period.seconds());
limiter_angular_->limit(angular_command, last_angular, second_to_last_angular, period.seconds());
previous_two_commands_.pop();
previous_two_commands_.push({{linear_command, angular_command}});

// Apply (possibly new) multipliers:
const double wheel_separation = params_.wheel_separation_multiplier * params_.wheel_separation;
const double left_wheel_radius = params_.left_wheel_radius_multiplier * params_.wheel_radius;
Expand Down Expand Up @@ -259,16 +270,6 @@ controller_interface::return_type DiffDriveController::update_and_write_commands
}
}

double & last_linear = previous_two_commands_.back()[0];
double & second_to_last_linear = previous_two_commands_.front()[0];
double & last_angular = previous_two_commands_.back()[1];
double & second_to_last_angular = previous_two_commands_.front()[1];

limiter_linear_->limit(linear_command, last_linear, second_to_last_linear, period.seconds());
limiter_angular_->limit(angular_command, last_angular, second_to_last_angular, period.seconds());
previous_two_commands_.pop();
previous_two_commands_.push({{linear_command, angular_command}});

// Publish limited velocity
if (params_.publish_limited_velocity && realtime_limited_velocity_publisher_)
{
Expand Down
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