search

ezWheelSAS / swd_ros_controllers

ROS 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
5 stars 4 forks source link

SWD moves slightly to the left. #49

Closed suguruhamada1003910 closed 1 year ago

suguruhamada1003910 commented 2 years ago

I created program which SWD Starterkit runs forward and backward repeatedly. Then, SWD moves slightly to the left. The motor on the left side appears to rotate slightly faster than the motor on the right side.

https://1drv.ms/v/s!AqHxzXmtIbtrqF1JNW5qfiJQfFip?e=e7wgB1

Do you have any idea to resolve this problem?

suguruhamada1003910 commented 2 years ago

I recorded the behavior of the running SWD Starterkit.

https://1drv.ms/u/s!AqHxzXmtIbtrqGKyXn12ck5eUW00?e=n31Go3

suguruhamada1003910 commented 2 years ago

I recorded the behavior of the running SWD Starterkit.

https://1drv.ms/u/s!AqHxzXmtIbtrqGKyXn12ck5eUW00?e=n31Go3

I also logged the value of Twist to /swd_diff_drive_controller/cmd_vel.

cmd_vel.txt

GMezWheel commented 2 years ago

Thanks for the video. I will try to reproduce the behavior this week and analyse your log. => the cmd_vel msg seems ok : +/- 1 on linear.x

GMezWheel commented 2 years ago

To better understand the problem, can you send me a candump log ?

suguruhamada1003910 commented 2 years ago

@GMezWheel

Please see the attached file.

candump.txt

suguruhamada1003910 commented 1 year ago

This problem was modified with FW V1.0.3.