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ClemensElflein / open_mower_ros

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Wheel Ticks calculation error cause GPS jumps on mowgli hardware. #100

Closed kevinmce closed 3 months ago

kevinmce commented 3 months ago

Im looking to track the issue identified in this conversation: https://discord.com/channels/958476543846412329/1079054431758332027/1235330953065267281

Jump in wheel ticks identified by c.ez: image

yes, that definitively had an error in the sign, also the large jumps are not GPS, you can verify that the GPS plot is not jumping, but the position is. it's wheel ticks jumping!

Identified that its when wheel tick direction change is triggered that a wheel tick jump occurs. image

Recommendation from Nekraus : Nekraus — 05/02/2024 8:51 PM in robot localization in function onWheelTicks : if(abs(vx) > 0.6) { ROS_WARN_STREAM("got vx > 1.0 (" << vx << ") - dropping measurement"); vx = 0.0; is_vx_valid = false; return; }

ClemensElflein commented 3 months ago

This jump detection and fix belongs in the Mowgli codebase

kevinmce commented 3 months ago

Sorry, i though the wheel ticks are calculated in the openmower OS? I suppose ill raise the ticket there.