Velocity smoothing in ROS - Mini Project: Build & Apply

Velocity smoothing

📖 Scenario: You are programming a robot that moves using velocity commands. To make the robot move smoothly, you want to limit how fast the velocity changes. This helps avoid sudden jerks and keeps the robot safe.

🎯 Goal: Create a ROS node that receives velocity commands, smooths the velocity changes by limiting acceleration, and publishes the smoothed velocity commands.

📋 What You'll Learn

Create a dictionary called current_velocity with keys 'linear' and 'angular' both set to 0.0

Create a variable called max_acceleration and set it to 0.1

Write a function called smooth_velocity that takes target_velocity dictionary and updates current_velocity by increasing or decreasing each component by at most max_acceleration

Publish the smoothed velocity using a ROS publisher inside a loop

💡 Why This Matters

🌍 Real World

Robots need smooth velocity changes to avoid jerky movements that can damage hardware or cause unsafe behavior.

💼 Career

Robotics engineers often write code to control robot motion smoothly for better performance and safety.

1

Create initial velocity state

Create a dictionary called current_velocity with keys 'linear' and 'angular' both set to 0.0

ROS

# Your code here

Hint

Use a Python dictionary with keys 'linear' and 'angular' and set both values to 0.0.

2

Set maximum acceleration limit

Create a variable called max_acceleration and set it to 0.1

ROS

current_velocity = {'linear': 0.0, 'angular': 0.0}
# Your code here

Hint

This variable controls how much velocity can change each step.

3

Write velocity smoothing function

Write a function called smooth_velocity that takes a dictionary target_velocity with keys 'linear' and 'angular'. For each key, update current_velocity by increasing or decreasing it by at most max_acceleration towards the target value.

ROS

current_velocity = {'linear': 0.0, 'angular': 0.0}
max_acceleration = 0.1

# Your code here

Hint

Use a for loop over keys 'linear' and 'angular'. Calculate difference and update current_velocity by max_acceleration step.

4

Publish smoothed velocity in ROS loop

Inside a ROS node loop, call smooth_velocity with a target velocity dictionary, then publish current_velocity using a ROS publisher. Use rospy.Rate(10) to run the loop at 10 Hz.

ROS

current_velocity = {'linear': 0.0, 'angular': 0.0}
max_acceleration = 0.1

def smooth_velocity(target_velocity):
    for key in ['linear', 'angular']:
        diff = target_velocity[key] - current_velocity[key]
        if abs(diff)  0 else -max_acceleration

# Your code here

Hint

Use rospy to create a node and publisher. In the loop, call smooth_velocity and publish the Twist message.

Practice

1. What is the main purpose of velocity smoothing in ROS robot control?

easy

A. To gradually change speed and avoid sudden jumps

B. To increase the maximum speed instantly

C. To stop the robot immediately

D. To ignore acceleration limits

Solution

1. Step 1: Understand velocity smoothing concept

   Velocity smoothing means changing speed gradually to avoid sudden jumps.

2. Step 2: Identify the purpose in robot control

   This gradual change improves safety and comfort by preventing abrupt movements.

3. Final Answer:

   To gradually change speed and avoid sudden jumps -> Option A

4. Quick Check:

   Velocity smoothing = gradual speed change [OK]

Hint: Velocity smoothing means smooth speed changes, not instant jumps [OK]

Common Mistakes:

• Thinking velocity smoothing increases speed instantly
• Confusing smoothing with emergency stop
• Ignoring acceleration limits in smoothing

2. Which of the following is the correct Python function signature for a velocity smoothing function in ROS?

easy

A. def smooth_velocity(current_vel: float, target_vel: float, max_accel: float):

B. def smooth_velocity(current_vel, target_vel, max_accel):

C. def smooth_velocity(current_vel: int, target_vel: int, max_accel: int, dt: int):

D. def smooth_velocity(current_vel: float, target_vel: float, max_accel: float, dt: float) -> float:

Solution

1. Step 1: Check function parameters for velocity smoothing

   The function needs current velocity, target velocity, max acceleration, and time delta (dt) to calculate smoothing.

2. Step 2: Verify correct typing and return type

   Using floats for velocities and acceleration is correct, and the function returns a float for new velocity.

3. Final Answer:

   def smooth_velocity(current_vel: float, target_vel: float, max_accel: float, dt: float) -> float: -> Option D

4. Quick Check:

   Correct parameters and types = def smooth_velocity(current_vel: float, target_vel: float, max_accel: float, dt: float) -> float: [OK]

Hint: Include all needed parameters with correct types and return value [OK]

Common Mistakes:

• Missing dt parameter for time step
• Using int instead of float for velocities
• No return type annotation

3. Given the following code snippet for velocity smoothing, what will be the output if current_vel = 1.0, target_vel = 3.0, max_accel = 1.0, and dt = 1.0?

def smooth_velocity(current_vel, target_vel, max_accel, dt):
    max_change = max_accel * dt
    delta = target_vel - current_vel
    if abs(delta) > max_change:
        delta = max_change if delta > 0 else -max_change
    return current_vel + delta

print(smooth_velocity(1.0, 3.0, 1.0, 1.0))

medium

A. 2.0

B. 3.0

C. 1.0

D. 4.0

Solution

1. Step 1: Calculate maximum allowed velocity change

   max_change = max_accel * dt = 1.0 * 1.0 = 1.0

2. Step 2: Calculate delta and limit it

   delta = target_vel - current_vel = 3.0 - 1.0 = 2.0, which is greater than max_change, so delta is limited to 1.0

3. Step 3: Calculate new velocity

   new velocity = current_vel + delta = 1.0 + 1.0 = 2.0

4. Final Answer:

   2.0 -> Option A

5. Quick Check:

   Velocity change limited by max_accel * dt = 2.0 [OK]

Hint: Limit velocity change by max_accel * dt before adding [OK]

Common Mistakes:

• Adding full delta without limiting by max_change
• Returning target_vel directly
• Ignoring sign of delta

4. Identify the bug in this velocity smoothing function and choose the correct fix:

def smooth_velocity(current_vel, target_vel, max_accel, dt):
    max_change = max_accel * dt
    delta = target_vel - current_vel
    if delta > max_change:
        delta = max_change
    elif delta < max_change:
        delta = -max_change
    return current_vel + delta

medium

A. Change max_change to max_accel / dt

B. Remove the if-else and always set delta = max_change

C. Change 'elif delta < max_change' to 'elif delta < -max_change'

D. Add abs() around delta in the if condition

Solution

1. Step 1: Analyze the conditions for limiting delta

   The function limits delta if it exceeds max_change positively or negatively.

2. Step 2: Identify incorrect condition

   The condition 'elif delta < max_change' is wrong because it triggers for any delta less than max_change, including values that don't need limiting. It should check if delta is less than negative max_change.

3. Step 3: Correct the condition

   Change 'elif delta < max_change' to 'elif delta < -max_change' to correctly limit negative large changes.

4. Final Answer:

   Change 'elif delta < max_change' to 'elif delta < -max_change' -> Option C

5. Quick Check:

   Negative delta limit needs correct comparison [OK]

Hint: Check negative limit uses -max_change, not max_change [OK]

Common Mistakes:

• Using max_change instead of -max_change for negative check
• Removing conditions and causing wrong velocity jumps
• Incorrect calculation of max_change

5. You want to implement velocity smoothing for a robot that receives a list of target velocities every second: [0, 2, 5, 3, 0]. The robot's max acceleration is 1.5 m/s² and the time step is 1 second. Which sequence of smoothed velocities will correctly apply velocity smoothing starting from 0 m/s?

hard

A. [0, 1.5, 3.0, 4.5, 3.0]

B. [0, 1.5, 3.0, 3.0, 1.5]

C. [0, 1.5, 2.5, 3.0, 1.5]

D. [0, 2, 5, 3, 0]

Solution

1. Step 1: Calculate smoothed velocities step-by-step

   Start at 0 m/s. Max change per step = 1.5 m/s. - Step 1: target 0 -> 0 (start) - Step 2: target 2, delta=2-0=2 >1.5, so velocity=0+1.5=1.5 - Step 3: target 5, delta=5-1.5=3.5 >1.5, velocity=1.5+1.5=3.0 - Step 4: target 3, delta=3-3=0 ≤1.5, velocity=3.0 - Step 5: target 0, delta=0-3=-3 < -1.5, velocity=3.0-1.5=1.5

2. Step 2: Compare with options

   The sequence [0, 1.5, 3.0, 3.0, 1.5] matches the calculated sequence.

3. Final Answer:

   [0, 1.5, 3.0, 3.0, 1.5] -> Option B

4. Quick Check:

   Apply max_accel limit each step = [0, 1.5, 3.0, 3.0, 1.5] [OK]

Hint: Apply max acceleration limit stepwise to each velocity [OK]

Common Mistakes:

• Using target velocities directly without smoothing
• Adding max_accel multiple times incorrectly
• Ignoring negative acceleration limits