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bit-bots / bitbots_motion

MIT License
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Odometry drifts in z axis #162

Closed timonegk closed 3 years ago

timonegk commented 3 years ago

Expected behavior

When visualizing the robot's walking in rviz, the robot should stay on the ground plane.

Current behavior

Instead, the robot's z coordinate slowly increases while walking until the robot flies in the sky.

Steps to Reproduce

  1. roslaunch bitbots_body_behavior rviz_behavior_test.launch
  2. In rviz, select a navigation goal and look at the robot going upwards.

Context (Environment)

Possible Solution

The problem was introduced in #158, since then, the odometry fuser uses the z values of the walking which seem to be a bit off. Maybe we should remove the z walking feature since it is not really needed or at least remove it from the odometry fuser for now.

SammyRamone commented 3 years ago

sounds reasonable to me. The z movement feature is not really needed, it also introduced unnecessary code complexity, therefore I'm pro removing it again