Pull request #361closed
Add logging capabilities and fix missing 2*PI of vel. and acc. resolutions
Hello @Anthony Mallet,
as the subject states, I added the possibility to log into this module and fixed the velocity and acceleration resolutions for all the motors.
As we expected, the factor
2*PI is missing, as demonstrated by the following tests.
Below are the figures of the results, where I plot the velocities read from the Gazebo simulator.
On the top, it is the test without the fix, while on the bottom with the fix of the resolutions applied.
In both tests, I am sending to the motor the following sequence of target velocities:
0.5, and lastly
As you can see, without the fix, all the velocities I read from Gazebo are multiples of