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simple_offboard: fix bug when navigate target is at 0 distance

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This commit is contained in:
Oleg Kalachev
2018-10-18 23:48:26 +03:00
parent 75d20b1234
commit d012c4fe7a
1 changed files with 4 additions and 1 deletions
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5
clever/src/simple_offboard.py
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@@ -131,7 +131,10 @@ BRAKE_TIME = rospy.Duration(0)
def get_navigate_setpoint(stamp, start, finish, start_stamp, speed):
distance = math.sqrt((finish.z - start.z)**2 + (finish.x - start.x)**2 + (finish.y - start.y)**2)
time = rospy.Duration(distance / speed)
k = (stamp - start_stamp) / time
if time == rospy.Duration(0):
k = 0
else:
k = (stamp - start_stamp) / time
time_left = start_stamp + time - stamp
if BRAKE_TIME and time_left < BRAKE_TIME: