Breadcrumb behaving incorrectly on firmware v41

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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Breadcrumb behaving incorrectly on firmware v41 #137

Closed MatjazBostic closed 3 years ago

MatjazBostic commented 3 years ago

I was trying v41 firmware on Breadcrumb, but it didn't work as it should. The most noticeable thing was that the robot was moving very slowly. It was also turning in a bit wrong directions, so I guess that also odometry didn't work perfectly.

dorkamotorka commented 3 years ago

We need more information on that. Did that happened after we drove the robot with 100kg, is robot underpowered(low battery), are we able to reproduce that also with keyboard_teleop.

MatjazBostic commented 3 years ago

It happens regardles of the load before testing. The robot wasn't underpowered. It also happens with keyboard_teleop (the slow driving part). Here is the video of the problem. Instantly after flashing back the v40 firmware, it works normally. https://workdrive.zoho.com/file/opxqf0ec321edd7e94b9291f801b82efd9cc8

mjstn commented 3 years ago

The slow driving is because that is a firmware made with all defaults for the MoonStar product. I am closing this now because v43 has been successfully tested. Please refer to issue: https://github.com/UbiquityRobotics/robot_testing/issues/12 and Pull request: that has been merged to ubiquity_motor was called merge4wdFeaturesToMagni