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CentroEPiaggio / irobotcreate2ros

Ros node for iRobot Create 2
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Odometry error accumulation? #10

Open smurthas opened 8 years ago

smurthas commented 8 years ago

I've noticed that (at least) in pure rotation, odometry accumulates error. Steps to recreate:

  1. Send cmd_vel msg with an angular twist of 0.1.
  2. Wait for full 360 deg rotation to occur on physical iRobot Create 2.
  3. Check odometry, notice that twist is not back to the same spot (this is easy to see in rviz by placing iRobot_0/base_link axes on a fixed frame)
  4. Also, if you send a cmd_vel msg with a greater ang twist of ~1.0 or so, this issue doesn't occur. (maybe it's time related so moving faster accumulates less error?)

My setup: Raspberry Pi 2, ROS indigo, Ubuntu 14.04.

If I rollback to code before the "New Odometry" pull req, then the issue seems to disappear.