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BCLab-UNM / SC2

Swarmathon Team Code for the NASA Space Challenge 2 Competition
MIT License
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Soon to be new speed limit(1.5 m/s) #63

Closed Carter90 closed 4 years ago

Carter90 commented 4 years ago

Looks like they are currently writing the rules to have a speed limit(1.5 m/s) we should adjust our code accordingly possibly driving faster for initial testing

Just need to update the parameters in the launch file src/scoot/launch/scoot.xml As I recall the rover had a hard time moving at low values Might also test to see if our set speed is actually driving at that rate

https://gitlab.com/scheducation/srcp2-competitors/-/issues/221#note_388422055

abbypribis commented 4 years ago

According to the change log, they changed it to a max speed of 1.5 m/s, which roughly translates to 6.28 rad/s. You can see in the linked file, wheel_velocity_limit is set to 2pi rad/s. After testing, I see the max speed I can send to the wheels is indeed 2pi. Getting the model state of the rover while it is driving shows this translates to about 1.5 m/s. Any attempt to increase the speed past that shows no difference in the driving speed in the model state. wheel_velocity_limit

Carter90 commented 4 years ago

Its clamped by the skid steer plug-in