Merge branch 'slhtlm-master'

darkobozhinoski · Oct 12, 2019 · fba07de · fba07de
2 parents 3f2624d + 9793847
commit fba07de
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/src/plugins/robots/generic/simulator/differential_steering_default_actuator.cpp b/src/plugins/robots/generic/simulator/differential_steering_default_actuator.cpp
@@ -109,8 +109,10 @@ namespace argos {
       /* Convert speeds in m/s */
       m_fCurrentVelocity[LEFT_WHEEL] = f_left_velocity * 0.01;
       m_fCurrentVelocity[RIGHT_WHEEL] = f_right_velocity * 0.01;
-      /* Apply noise */
-      if(m_pcRNG) {
+      /* Apply noise only if the robot is in motion (at least one of the wheels is moving)*/
+      if( m_pcRNG &&
+          ((f_left_velocity  != 0) ||
+           (f_right_velocity != 0) )) {
          ADD_NOISE(LEFT);
          ADD_NOISE(RIGHT);
       }