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Fix open_loop odometry of steering controllers #2087

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Merged
christophfroehlich merged 1 commit into from
Dec 31, 2025
Merged

Fix open_loop odometry of steering controllers #2087

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6 changes: 5 additions & 1 deletion steering_controllers_library/src/steering_controllers_library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -517,9 +517,13 @@ controller_interface::return_type SteeringControllersLibrary::update_reference_f
controller_interface::return_type SteeringControllersLibrary::update_and_write_commands(
const rclcpp::Time & time, const rclcpp::Duration & period)
{
update_odometry(period);
auto logger = get_node()->get_logger();

// store current ref (for open loop odometry) and update odometry
last_linear_velocity_ = reference_interfaces_[0];
last_angular_velocity_ = reference_interfaces_[1];
update_odometry(period);

// MOVE ROBOT

// Limit velocities and accelerations:
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