ros-controls / ros-controls/ros2_controllers

[JTC] improve wraparound tests

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#802 1 comment 0 reactions 1 assignee View on GitHub

@christophfroehlich is already working on this.

Since Oct 21, 2023.

enhancement good second issue
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Description

position_error_not_angle_wraparound and position_error_angle_wraparound should check the controller output (and error variable) only with constant position reference but changing position state.

  • no interference with trajectory wraparound from #796
  • maybe the usage of the state_msg can be removed

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