Integrate Motor Controller with Odometry
From wikidb
Execute
Terminal 1
roscore
Terminal 2
roslaunch floor_hugger motor_control.launch
Parameter to disable odometry
<launch> <node pkg="phidgets" type="motor_control_hc" name="motor_control_hc" respawn="true" output="screen"> <param name="odometry" value="disable" /> </node> </launch>
Terminal 3
rosrun floor_hugger to_position.py
Terminal 4
roslaunch floor_hugger odometry.launch
= Enabled Controller Odometry
Enable odometry with "odom"
<launch> <node pkg="phidgets" type="motor_control_hc" name="motor_control_hc" respawn="true" output="screen"> <param name="odometry" value="odom" /> </node> </launch>
Motor controller errors messages of this type:
[ WARN] [1462401818.924243003]: Linear acceleration limit 167.613028/0.300000 reached [ WARN] [1462401819.190862871]: Angular velocity error 370.656911 degrees/sec = -0.149613 - -6.618796
- PID Tuning See Manual Tuning and Ziegler–Nichols