Support for minimising the steering angle difference between previous and next angle #1
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…sation that prevents continuous steering joints from moving more than a quatre turn. Modified the test yaml and added a description of the new param. Added new param enable_min_steering_difference to enable or disable this new functionality, default off.
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This enhancement makes the controller behave optimally when selecting steering angles on continuous joint steering based robots.
To find the optimal angle to select we find the minimum angle difference between the previous angle position issued and either the calculated steering joint angle or it's polar opposite angle. When chosing the lesser difference we can gaurantee that the joint never moves more than π/2 radians per turn as opposed to the π radians per turn maxium in the current repo state.
More information on this can be found in this comment . I wasn't sure how we could make simple tests for this enhancement, we'd have to add another monitor to the test code that checks the joint_states prior and post command.
Let me know if you wan't any other work done, you can then merge my work into your existing ros-control pull request. We could also wait until your original code has passed but PR's take a very long time to get checked over so I thought it might be fast this way.
Cheers!