Odometry Glitches
From wikidb
Background and Set Up
These odometry glitches were discovered during motor control PID tuning. See
Example Graph
These measurements are under load.
Setting
- P = 15
- I = 15
- Target speed 0.2 m/sec
Observations
- Notice the odometry glitches that report a 0 m/sec wheel speed. See Odometry Glitches.
- It also suggest a power dead zone from 0 to 10%.
Y scales too different
rqt_plot /cmd_vel/linear/x /wheels/data[1] /wheels/data[2] /phidgets/encoder/351547/count_change
roslaunch floor_hugger motor_control_nav.launch roslaunch floor_hugger odometry.launch rqt_plot /cphidgets/encoder/351547/count_change python motors_go_full.py 0.20 0.0