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Hypha-ROS / hypharos_minicar

1/20 MiniCar: An ackermann based rover for MPC and Pure-Pursuit controller
https://hypharosworkshop.wordpress.com/
Apache License 2.0
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Problem about data of /laserscan "wobble" #11

Closed Octalivia closed 5 years ago

Octalivia commented 5 years ago

when my racecar make a turn at a high speed (3m/s, a slight turn), the laser scan "wobble" , it also happens in the hypharos simulation platforn. How to solve this problem?

wqb2249654300 commented 5 years ago

Hello, I want to ask why the speed can not be greater than 1m / s when I simulate? There is no response to modifying the parameter max_speed.

wqb2249654300 commented 5 years ago

Hello, I want to ask why the speed can not be greater than 1m / s when I simulate? There is no response to modifying the parameter max_speed.

Octalivia commented 5 years ago

Hello, I want to ask why the speed can not be greater than 1m / s when I simulate? There is no response to modifying the parameter max_speed.

you need to add "velocity bounds" for your robot model in the .inc file. Such as the following. velocity_bounds [-5 5 -5 5 -5 5 -90 90]

haochihlin commented 5 years ago

Hi @Octalivia ,

About the "wobble" effect of laser, I guess the cause is the drift of wheel. In order to get better localization performance (via amcl), we need good odometry estimation. The current odom estimate on minicar only based on wheel encoder. So there are two potential issues: (1) when steering, one wheel (or both wheel) is/are slipping a bit. (2) When acceleration is too high, the wheel would slip for a moment. To tackle these slipping issue, you can either fuse the wheel odom with onboard imu by EKF or fuse with laser odometry (e.g. rf2o).