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buckbaskin / drive_stack

lang:ROS/Python/C++ End to end solution for driving a robot based on position, Twist command output
MIT License
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Run Path/Leader/Driver in Stage #31

Open buckbaskin opened 9 years ago

buckbaskin commented 9 years ago

The goals are:

  1. to see how a Driver behaves following the first set of points
  2. Test how the path talks to the leader for getting new points
  3. test how the leader generates points live for the robot
buckbaskin commented 8 years ago

The driver "works", but it is very unstable (see 91536e9487c4d754a40d8105d49b143f601918f9), I think there is a sign error somewhere in the code, because it swings to an error case (extreme heading error), and then corrects, and swings back to the other extreme case. I think rqt_plot might be helpful, where I can plot the heading error vs angular velocity and see what's going on.