FL caster on PRK was oscillating during navigation runs (ros ticket #3697)

PR2 / pr2_controllers

The controllers that run in realtime on the PR2 and supporting packages.

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FL caster on PRK was oscillating during navigation runs (ros ticket #3697) #283

Closed ahendrix closed 11 years ago

ahendrix commented 11 years ago

PRK was stopped near its goal, and the FL caster was oscillating in a weird way, back and forth.

I'm up to date, r29768 on pr2_mechanism_controllers.

Does this have the damping for the base controller installed? I saw this once before when I was starting the robot.

I don't think this is easy to repeat.

trac data:

Owner: sachinc
Reporter: watts
Reported at: Thu Jan 21 13:04:08 2010
URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3697

ahendrix commented 11 years ago

[sglaser] New gains have been checked in for the base controller, and several of the oscillations we've seen have been because of the nav stack. I'm going to close this ticket. If you need to open a new one, including a bag of the topics going into and out of the base controller would be extremely helpful.