fix(steering-odometry): convert twist to steering angle

ros-controls · Sep 12, 2024 · a5f7f4d · a5f7f4d
1 parent 57c50e5
commit a5f7f4d
Showing 1 changed file with 3 additions and 6 deletions.
diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp
@@ -208,12 +208,9 @@ void SteeringOdometry::set_odometry_type(const unsigned int type) { config_type_
 
 double SteeringOdometry::convert_twist_to_steering_angle(double v_bx, double omega_bz)
 {
-  if (fabs(v_bx) < std::numeric_limits<float>::epsilon())
-  {
-    // avoid division by zero
-    return 0.;
-  }
-  return std::atan(omega_bz * wheelbase_ / v_bx);
+  // phi can be nan if both v_bx and omega_bz are zero
+  const auto phi = std::atan(omega_bz * wheelbase_ / v_bx);
+  return std::isfinite(phi) ? phi : 0.0;
 }
 
 std::tuple<std::vector<double>, std::vector<double>> SteeringOdometry::get_commands(