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.
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; }
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](https://github.com/ClemensElflein/open_mower_ros/assets/2911414/bc72e46e-5db6-4ec1-bac1-74b53778473f)
Identified that its when wheel tick direction change is triggered that a wheel tick jump occurs.![image](https://github.com/ClemensElflein/open_mower_ros/assets/2911414/9dc97f86-5f90-4897-98b0-496908d576d5)
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; }