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bit-bots / bitbots_main

This git contains all RoboCup code from the Hamburg Bit-Bots.
https://bit-bots.de
MIT License
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Localization after multiple consecutive falls #579

Open texhnolyze opened 4 months ago

texhnolyze commented 4 months ago

Summary

During RoboCup 2024 we found, that when falling multiple times in short succession (e.g. colliding with other robots during dynup) we end up wrongly localizing.

Expected behavior

After falling multiple times, we still want to correctly reset localization so that it is a lot mor likely that we relocalize successfully.

Steps to Reproduce

  1. Be localized correctly on the field
  2. Fall over
  3. While getting back up fall over again 2-3 times, moving a bit on the field
  4. -> Should lead to wrong localization, because we reset it during getup, but fall again

Possible Solution

It might be possible to just wait for a second or two after fully getting up, to see if we are stable before resetting the localization

Flova commented 4 months ago

We might want to look at the rosbags where this occured.