Update DockController.cpp

降低里程计精度要求
BluewhaleRobot · Aug 18, 2020 · 8b62cea · 8b62cea
1 parent b59736f
commit 8b62cea
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/DockController.cpp b/src/DockController.cpp
@@ -1388,7 1388,7 @@ bool DockController::rotate2Station3()
  m1.getRPY(roll, pitch, yaw);
  theta = yaw;
  //ROS_ERROR("temp error %f %f %f ; %f %f %f",roll,pitch,yaw, mstationPose3_[0],mstationPose3_[1],mstationPose3_[2]);
- if (fabs(theta - mstationPose3_[2]) < 0.02)
  if (fabs(theta - mstationPose3_[2]) < 0.08)
  {
  //ROS_ERROR("temp error2 %f %f %f ; %f %f %f",x,y,yaw, mstationPose3_[0],mstationPose3_[1],mstationPose3_[2]);
  return true;
@@ -1459,7 1459,7 @@ bool DockController::goToStation3()
 
  //ROS_ERROR("temp error3 %f %f %f ; %f %f",x,y,yaw, x2,y2);
  //增加过零检查和发散检查
- if (fabs(x2) <= 0.03)
  if (fabs(x2) <= 0.06)
  return true;
  if((x2*last_x2) < 0.0001) return true; //过最小值
  if(fabs(min_x2_ - fabs(x2)) > 0.2) return true; //发散