Closed lukicdarkoo closed 4 years ago
The result of psrecord $(pgrep driver) --interval 1 --plot plot1.pdf --duration 60
:
Keep in mind that includes the following topics at rate of 15.6Hz (64ms):
/cmd_vel [geometry_msgs/msg/Twist]
/laser [sensor_msgs/msg/LaserScan]
/odom [nav_msgs/msg/Odometry]
/ps0 [sensor_msgs/msg/Range]
/ps1 [sensor_msgs/msg/Range]
/ps2 [sensor_msgs/msg/Range]
/ps3 [sensor_msgs/msg/Range]
/ps4 [sensor_msgs/msg/Range]
/ps5 [sensor_msgs/msg/Range]
/ps6 [sensor_msgs/msg/Range]
/ps7 [sensor_msgs/msg/Range]
/tf [tf2_msgs/msg/TFMessage]
/tf_static [tf2_msgs/msg/TFMessage]
and having 1 dynamic transform publisher, and 9 static transform publishers. Also, RViz2 was subscribed to the topics.
There is currently a bug with odometry, after some time it "jumps" to a random place. Trying to identify a source...
OK, the jumps are caused when a number of ticks is around 32750. Familiar number? :)
Fixed in bee89b8830373fbe3bf68426c9ad443212ccde40 and 7aa951e4f35387ecddc484c07c2422d2d4cf9c21
There is currently a bug with odometry, after some time it "jumps" to a random place. Trying to identify a source...
OK, the jumps are caused when a number of ticks is around 32750. Familiar number? :)
Yes if I am not wrong this is the limit of the encoders returned by the e-pucks. It indeed makes sense that this is the cause, well spotted.
Description Odometry topic should be added
epuck_ros2_cpp
package.Related Issues Closes #3
Tasks
odom
. The position should be calculated from velocity and discretized with Runge–Kutta.psrecord
(psrecord $(pgrep driver) --interval 1 --plot plot1.pdf --duration 60
)