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Ema fix #44

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vsurendran-bdai wants to merge 8 commits into from
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Ema fix #44

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561315b
Updated how time between pose/twist publish is computed
vsurendran-bdai Dec 22, 2025
46fe974
Merge pull request #1 from vidullan/publish_rate_fix
vidullan Dec 22, 2025
877481d
cleaned up cmake. clamped publish rate accumulation. reset time accum…
vsurendran-bdai Dec 22, 2025
ab87547
default cmake enable_native_optimization=on
vsurendran-bdai Dec 22, 2025
9a93581
allowing two concurrent pose publishers
vsurendran-bdai Mar 1, 2026
e567688
merged upstream
vsurendran-bdai Mar 3, 2026
2326604
refactored EMA so it aligned with matlab func params. Also noticed EM…
vsurendran-bdai Mar 4, 2026
10e14c8
merged from upstream
vsurendran-bdai Mar 4, 2026
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -22,7 +22,7 @@ option(CHECK_TIDY "Adds clang-tidy tests" OFF)

option(ENABLE_NATIVE_OPTIMIZATION
"Enable CPU-specific optimizations (-march=native)"
OFF
ON
)

# Default to release build
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6 changes: 3 additions & 3 deletions include/crisp_controllers/utils/fiters.hpp
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Expand Up @@ -10,13 +10,13 @@
* @brief Compute the exponential moving average of a value
* @param output Previous output value
* @param current Current value measured to be filtered
* @param alpha Smoothing factor (0 < alpha < 1). The closer to 1, the more it
* @param alpha Smoothing factor (0 < alpha < 1). The closer to 0, the more it
* smooths the value
* @return returns the filtered value
*/
template <typename T>
inline T exponential_moving_average(const T output, const T current, const double alpha) {
return (1.0 - alpha) * current + alpha * output;
inline T exponential_moving_average(const T prev, const T current, const double alpha) {
return (1.0 - alpha) * prev + alpha * current;
}

/**
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7 changes: 4 additions & 3 deletions src/cartesian_controller.cpp
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Expand Up @@ -86,7 +86,7 @@ CartesianController::update(const rclcpp::Time & time, const rclcpp::Duration &
desired_position_ =
exponential_moving_average(desired_position_, target_position_, params_.filter.target_pose);
desired_orientation_ =
target_orientation_.slerp(params_.filter.target_pose, desired_orientation_);
desired_orientation_.slerp(params_.filter.target_pose, target_orientation_);

/*target_pose_ = pinocchio::SE3(target_orientation_.toRotationMatrix(),
* target_position_);*/
Expand Down Expand Up @@ -183,10 +183,11 @@ CartesianController::update(const rclcpp::Time & time, const rclcpp::Duration &
tau_d << tau_task + tau_nullspace + tau_friction + tau_coriolis + tau_gravity + tau_joint_limits +
tau_wrench;

tau_d = exponential_moving_average(tau_previous, tau_d, params_.filter.output_torque);

if (params_.limit_torques) {
tau_d = saturateTorqueRate(tau_d, tau_previous, params_.max_delta_tau);
}
tau_d = exponential_moving_average(tau_d, tau_previous, params_.filter.output_torque);

if (!params_.stop_commands) {
for (size_t i = 0; i < params_.joints.size(); ++i) {
Expand Down Expand Up @@ -320,7 +321,7 @@ CartesianController::on_configure(const rclcpp_lifecycle::State & /*previous_sta
new_target_wrench_ = false;

multiple_publishers_detected_ = false;
max_allowed_publishers_ = 1;
max_allowed_publishers_ = 2;

auto target_pose_callback =
[this](const std::shared_ptr<geometry_msgs::msg::PoseStamped> msg) -> void {
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