zebradevs / fetch_open_auto_dock Goto Github PK

auto_dock.cpp
while (!controller_.backup(0.0, -dock_yaw)

controller.cpp
double k = -1.0 / r * (k2_ * (delta - a) + (1 + (k1_ / 1 + ((k1_ * theta) * (k1_ * theta)))) * sin(delta));

hi,
I find the curvature calculation function is different with paper, is it a error ?
Another error, preorient a yaw in base_link, it should be dock_yaw , rather than -dock_yaw.
`

I found this function addScan() is unused, but how the variable mask_ is set?