I am analysing the response to rbcar in Gazebo by giving an open loop velocity commands and comparing it with the actual velocity of rbcar using the /gazebo/model_states topic and I am noticing a a steady state error in the said response (refer to plot below). I naturally tried to change the gains in rbcar.yaml but that doesn't seem change the response that much.
My questions are:
In rbcar_robot_control, the velocity for each wheel is computed using *ref_speed_joint = 2.0 vref / RBCAR_WHEEL_DIAMETER**. Could you help me understand the math behind this?
Could you also help me understand how you arrived at the gains in rbcar_control.yaml? Can I interpret these gains as an abstraction of how the actual rbcar hardware converts the velocity commands to AC motor voltages and so on?
I am analysing the response to rbcar in Gazebo by giving an open loop velocity commands and comparing it with the actual velocity of rbcar using the /gazebo/model_states topic and I am noticing a a steady state error in the said response (refer to plot below). I naturally tried to change the gains in rbcar.yaml but that doesn't seem change the response that much.
My questions are: