Going in reverse about mushr HOT 3 OPEN

Hi!

You may using an older version of the mushr_rhc. In the old version, only forward velocities were being sampled. In the noetic branch, it should sample forward, 0, and reverse. This is how it is currently implemented.

If you wish to not change branches, you can take the logic used in the noetic branch and sample forward, 0 and reverse actions.

Hope this helps.

Thanks,
Regards,
Sid.

from mushr.

Not sure I am following. I have noetic branch and mushr_base and then I have my own controller implemented that is just a simple controller to follow the path that I am giving. I am not s sure if it supposed to just go in reverse automatically if I give negative velocity and backward waypoints (and right now this is not happening) and I am not sure if the problem is mine or if there is something I need to set up in the vesc to make the reverse maneuver happening

from mushr.

I see. If you're doing this on a real car, could you place it on a block such that the tires don't touch the ground, and hardcode the commanded velocity in your controller to always be negative? If the wheels move backwards, it may be a bug in your code.

Thanks,
Regards,
Sid

from mushr.