SENS: SF45: Scale the measured distance with pitch and roll #24142
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…e assumption that the measured obstacles are vertical walls,
bresch
reviewed
Dec 20, 2024
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This would be an option, in the long run, i would move away from publishing the obstacle_distance from the sensor, and just publish each measurement with its orientation set as the quaternion, but for this we need a callback based collision prevention map logic, which it is currently not. If its worth it for the time inbetween i cant say, there you would probably know better. |
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To prevent oscillations caused by the coupling of pitch and roll, which increase the sensor's measured distance, we account for these effects by introducing scaling based on pitch and roll into the measurements. This adjustment ensures accurate collision prevention.
Issue was solved inside of collision prevention by @mahimayoga in #24107, whereby this implementation is aequivalent.
Pitch
Roll
Solution
Pitch
Roll
Test coverage