Difference between revisions of "Odometry Glitches"
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* 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 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. | * 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. | ||
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[[Image:plot151520.png|600px]] | [[Image:plot151520.png|600px]] | ||
= Zero Wheel Speed Glitches = | = Zero Wheel Speed Glitches = |
Revision as of 13:32, 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.