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.
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.