Improve navigation performance

CommonplaceRobotics / iRC_ROS

ROS2 packages for the igus Robot Control

Apache License 2.0

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Closed cpr-fer closed 1 year ago

cpr-fer commented 1 year ago

[x] Enable the robot to reverse
[x] Acceleration limits to high for rotation, module goes into error state
[x] Plannning paths with rotations of 90 degrees or more results in switching between different possible paths and the robot constantly changing its rotations direction

cpr-fer commented 1 year ago

The oscillating behavior of bullet point 3 that occurred: Screencast from 21.03.2023 16:17:48.webm

Reducing the controller frequency seemed to have done the trick as suggested here

I also managed to increase the used speed by following this solution.