Odometry Glitches

Background and Set Up

These odometry glitches were discovered during motor control PID tuning. See

• Creating_PID_Tuning_Graphs
• Creating_PID_Tuning_Graphs#Execution

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