使用yocs_smoother_velocity做速度平滑处理

参考文章
1-ros中的速度平滑处理和yocs_smoother_velocity介绍及关于全向扩展包实现
https://www.jianshu.com/p/926d6e68ebd1
2-ROS使用yocs_smoother_velocity做速度平滑处理
https://blog.csdn.net/lclfans1983/article/details/105444059
3-使用yocs_velocity_smoother对机器人速度进行限制
https://my.oschina.net/u/4275369/blog/4200069
4-ROS入门笔记（五）：ROS中运行rqt_plot的问题（kinetic）
https://blog.csdn.net/brawly/article/details/106433339?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-2.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-2.channel_param

自己调试的注意事项
这是我的
raw_cmd_vel_topic是手柄发过来的话题数据
smooth_cmd_vel_topic和robot_cmd_vel_topic可以是同一个，最好是同一个，因为robot_cmd_vel_topic是机器人当前的速度你是不知道的。

<!--
  Example standalone launcher for the velocity smoother
 -->
<launch>
  <arg name="node_name"             value="velocity_smoother"/>
  <arg name="nodelet_manager_name"  value="nodelet_manager"/>
  <arg name="config_file"           value="$(find yocs_velocity_smoother)/param/standalone.yaml"/>
  <arg name="raw_cmd_vel_topic"     value="teleop_velocity_smoother/raw_cmd_vel"/>
  <arg name="smooth_cmd_vel_topic"  value="cmd_vel"/>
  <arg name="robot_cmd_vel_topic"   value="cmd_vel"/>
  <arg name="odom_topic"            value="odom"/>
  
  <!-- nodelet manager -->
  <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" args="manager"/>
  
  <!-- velocity smoother -->
  <include file="$(find yocs_velocity_smoother)/launch/velocity_smoother.launch">
    <arg name="node_name"             value="$(arg node_name)"/>
    <arg name="nodelet_manager_name"  value="$(arg nodelet_manager_name)"/>
    <arg name="config_file"           value="$(arg config_file)"/>
    <arg name="raw_cmd_vel_topic"     value="$(arg raw_cmd_vel_topic)"/>
    <arg name="smooth_cmd_vel_topic"  value="$(arg smooth_cmd_vel_topic)"/>
    <arg name="robot_cmd_vel_topic"   value="$(arg robot_cmd_vel_topic)"/>
    <arg name="odom_topic"            value="$(arg odom_topic)"/>
  </include>
</launch>

平滑包参数，这是我的，速度最大值和加速度的对应关系一般为1：1.5（是我这么认为），比如speed_lim_v是0.5，则accel_lim_v为0.75，这样可以较平稳的控制小车

# Example configuration:
# - velocity limits are around a 10% above the physical limits
# - acceleration limits are just low enough to avoid jerking

# Mandatory parameters
speed_lim_v: 0.5
speed_lim_w: 2.0 #default is 5.4

accel_lim_v: 0.55
accel_lim_w: 2.2 #default is 3.5

# Optional parameters
frequency: 30.0
decel_factor: 1.0

# Robot velocity feedback type:
#  0 - none
#  1 - odometry
#  2 - end robot commands
robot_feedback: 2