Difference between revisions of "Odometry Glitches"
From wikidb
(→Example Graph) |
|||
| Line 11: | Line 11: | ||
Observations | Observations | ||
| − | * Notice the odometry glitches that report a 0 m/sec wheel speed. | + | * Notice the odometry glitches that report a 0 m/sec wheel speed. This issue appears to be an odometry node bug when the robot's angle |
| − | * Notice the wheel speed short term oscillation. | + | on the xy plane makes a quadrant change. See below. |
| + | * Notice the wheel speed short term oscillation. This issues appears to be an encoder node issue bug because of a lack of time precision. See below. | ||
The issues are pinpointed below | The issues are pinpointed below | ||
Revision as of 13:28, 12 October 2017
Background and Set Up
These odometry glitches were discovered during motor control PID tuning. See
Example Graph
These measurements are under load.
Observations
- Notice the odometry glitches that report a 0 m/sec wheel speed. This issue appears to be an odometry node bug when the robot's angle
on the xy plane makes a quadrant change. See below.
- Notice the wheel speed short term oscillation. This issues appears to be an encoder node issue bug because of a lack of time precision. See below.
The issues are pinpointed below
