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rm-controls · Aug 12, 2023 · 58e6ede · 58e6ede
1 parent beb074d
commit 58e6ede
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/engineer_middleware/include/engineer_middleware/chassis_interface.h b/engineer_middleware/include/engineer_middleware/chassis_interface.h
@@ -136,8 +136,10 @@ class ChassisInterface
     quatToRPY(goal_.pose.orientation, roll, pitch, yaw_goal);
     error_yaw_ = angles::shortest_angular_distance(yaw_current, yaw_goal);
     geometry_msgs::Twist cmd_vel{};
-    cmd_vel.linear.x = pid_x_.computeCommand(error.x, period) <= max_vel_ ? pid_x_.computeCommand(error.x, period) : 0;
-    cmd_vel.linear.y = pid_y_.computeCommand(error.y, period) <= max_vel_ ? pid_y_.computeCommand(error.y, period) : 0;
+    cmd_vel.linear.x =
+        abs(pid_x_.computeCommand(error.x, period)) <= max_vel_ ? pid_x_.computeCommand(error.x, period) : 0;
+    cmd_vel.linear.y =
+        abs(pid_y_.computeCommand(error.y, period)) <= max_vel_ ? pid_y_.computeCommand(error.y, period) : 0;
     cmd_vel.angular.z = abs(pid_yaw_.computeCommand(error_yaw_, period)) >= yaw_start_threshold_ ?
                             pid_yaw_.computeCommand(error_yaw_, period) :
                             0;