search

UbiquityRobotics / ubiquity_main

Main documentation as well as other misc files
Other
19 stars 7 forks source link

Uncontrolled motor movement after killing motor node #189

Closed davecrawley closed 4 years ago

davecrawley commented 5 years ago

Start magni motor node Publish a twist message periodically on /cmd_vel (e.g., 0.1m/s forward, 30Hz) Observe Magni moves forward as expected Stop motor node Observe Magni stops as expected Stop publishing messages on /cmd_vel Start magni motor_node Observe Magni is moving at max velocity for a short period of time seemingly proportional to the original velocity. This looks like the firmware’s integral is winding up when it is in an unconnected state. Since we regard this kind of uncontrolled movement as a security issue, we would greatly appreciate help with it.

mjstn commented 4 years ago

This has been fixed in hardware from MCB 5.x versions combined with firmware fixes for ESTOP and PID related code. This was first addressed in firmware version v32 and was later emproved upon in v35 firmware. I believe this to be resolved.

rohbotics commented 4 years ago

Closing this due to age, and what we think is a solution with a lack of reproduction since.