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RoboMaster / RoboRTS

An open source software stack for Real-Time Strategy research on mobile robots
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some mistake in motion model #33

Closed lyziew closed 5 years ago

lyziew commented 5 years ago

Accroding to https://github.com/ros-planning/navigation/issues/499 It seem should be:

  double trans_hat_stddev = (alpha3 * (delta_trans*delta_trans) +
                             alpha4 * (delta_rot*delta_rot));,
  double rot_hat_stddev = (alpha1 * (delta_rot*delta_rot) + 
                           alpha2 * (delta_trans*delta_trans));
  double strafe_hat_stddev = (alpha4 * (delta_rot*delta_rot) + 
                              alpha5 * (delta_trans*delta_trans));
lyziew commented 5 years ago

Also in referee_system.cpp RefereeSystem::RobotHeatCallback heat value is not used may should be

  roborts_msgs::RobotHeat robot_heat;
  robot_heat.chassis_volt = raw_robot_heat->chassis_volt;
  robot_heat.chassis_current = raw_robot_heat->chassis_current;
  robot_heat.chassis_power = raw_robot_heat->chassis_power;
  robot_heat.chassis_power_buffer = raw_robot_heat->chassis_power_buffer;
  robot_heat.shooter_heat = raw_robot_heat->shooter_heat0;
  ros_robot_heat_pub_.publish(robot_heat);
charmyoung commented 5 years ago

Thanks for your issue. We have fixed the latter one, as the shooter heat is omitted. According to the omni odom model, we will take it into consideration for the next release version after the competition.