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ezWheelSAS / swd_ros2_controllers

ROS2 nodes to control motors powered by the ez-Wheel Safety Wheel Drive (SWD®) technology.
https://www.ez-wheel.com/
GNU Lesser General Public License v2.1
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ROS2 Navigation parameters? #25

Open jmartherose-aldebaran opened 2 months ago

jmartherose-aldebaran commented 2 months ago

Hello!

We're trying to have our robot, equipped with two SWD125 wheels, navigate using the ROS2 Nav2 stack, and it appears that the robot is having trouble following the direction commands when navigating (we've tested it at slower speeds (~0.5m/s)).

Namely, the robot will appear to oscillate while following the trajectory, as if it had trouble following the speed commands in terms of rotation acceleration and deceleration, taking more time than the navigation algorithms seem to expect for the speed to ramp up and down.

We first thought it was linked to the ticket #21, but since there are robots that run using your hardware and ROS (such as the SWD Starter Kit), we know it should be possible to navigate using default wheel parameters.

Do you have any pointers on changes that would be needed from the default configuration of the wheels and the ROS navigation stack to ensure smooth navigation?

Thank you for your help,

ez-Support commented 2 months ago

Hello,

Please tell us if https://github.com/ezWheelSAS/swd_ros2_controllers/blob/main/launch/swd_diff_drive_controller.launch.py#L35 increasing the motor_max_delta_speed_rpmhelps

Thanks