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UbiquityRobotics / ubiquity_motor

Package that provides a ROS interface for the motors in UbiquityRobotics robots
BSD 3-Clause "New" or "Revised" License
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More accurate wheel velocity and position data required from MCB #124

Closed mjstn closed 2 years ago

mjstn commented 3 years ago

We need accurate speed data from the MCB reported to Ubiquity Motor node so we can do better fusion and wheel odom.

Need to at firmware level precisely measure from encoder edges the micro-second timing of encoder pulses and send this to motor node so very accurate slow speed wheel odom can be available to fusion with IMU data and so on.

mjstn commented 3 years ago

This is under review at this time for the host side changes in ubiquity_motor. See pull request as follows: Add tic interval topics and fix bat volt readings and enhance test_velocity tool #126

The firmware side of this ability is in v41 firmware which is a beta at this time and will be evaluated by the Qualcomm team most likely.

mjstn commented 2 years ago

Closing this now. It has been in the code for a few months now.