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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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Odom4wd scale factor correction and do wheel nulling more often #141

Closed mjstn closed 3 years ago

mjstn commented 3 years ago

At this time of this PR creation the code to do the odom correction is basically using a scale factor of 1.0 so that it does not really do anything as the code is not operational yet.

This PR is to allow a team member to take a peek at what is happening as another set of eyes.

The 2nd part of this is I am using a variable set to 0.1 rad/sec instead of a much tighter old value of 0.01 rad/sec for when the cmd_vel Z angular rotation is a rotate of more than this we rotate but if the pure rotation z rotation drops below the value of ROTATE_TORQUE_THRESHOLD the robot is allowed to relieve wheel stress to avoid hot wheels.

mjstn commented 3 years ago

Made a mistake, this pull request is against 4wdChassisBranch so I'm closing it and will form correct one next.