ros-controls / ros-controls/ros2_controllers
Speed Scaling - Is there a plan to extend to velocity/acceleration-based interfaces?
Nobody has claimed this yet.
- Dominant language
- C++
- Stars
- 834
- Forks
- 530
- Avg merge
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- Merged PRs (30d)
- 19
Description
Is your feature request related to a problem? Please describe.
The current implementation of speed scaling only works for position-based interfaces.
Describe the solution you'd like
For example, the speed scaling cannot be used when the robot accepts position, feedforward velocity, and acceleration as input. It would be great to allow the possibility of using it in such a context.
Describe alternatives you've considered
In my understanding, modifying the sample function of the trajectory should be enough to support the speed scaling to a velocity and acceleration-based interface.
Additional context
I would be willing to support such implementation.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by tracing the current speed-scaling implementation and its trajectory sample function. Determine how velocity- and acceleration-based interfaces should be supported alongside position-based interfaces, then identify the tests needed to demonstrate the completed behavior.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 35/100