Fix service zero tolerance numerical issue #329
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mbf_costmap_nav/src/mbf_costmap_nav/costmap_navigation_server.cpp
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mbf_costmap_nav/src/mbf_costmap_nav/costmap_navigation_server.cpp
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corot
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Sep 13, 2023
mbf_costmap_nav/src/mbf_costmap_nav/costmap_navigation_server.cpp
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corot
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Sep 14, 2023
mbf_costmap_nav/src/mbf_costmap_nav/costmap_navigation_server.cpp
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ChristofDubs
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corot
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Description
In the
callServiceFindValidPoseservice we usetfutility functions to convertquarterniontoyawback and forth:tf::getYawandtf::createQuaternionMsgFromYawbecause of theFreePoseSearchclass interfaces.This can lead to numerical issues. For example, when the starting angle for the search is the solution, the original angle (service request) can be slightly different from the output (service response) because of the conversions.
Adding a check to fix the numerical issue: if the difference from input to output is less than the
ANGLE_INCREMENT, we use the input angle without conversions.