Odometry Glitches

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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

Plot151520.png

Zero Wheel Speed Glitches

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