When I launch hoverboard_driver (roslaunch hoverboard_driver hoverboard.launch) odom (rostopic echo hoverboard_velocity_controller/odom) looks good linear.x = 0 and angular.z = 0, when I send cmd_vel it also shows ok values, but when I stop sending cmd_vel twist gets strange linear.x = -2.08166817117e-17 (or similar value) and angular.z = -7.11930514541e-15 (or similar value) until I send new cmd_vel.
I've changed api->scheduleRead(HoverboardAPI::Codes::sensHall, -1, 200, PROTOCOL_SOM_NOACK); to api->requestRead(HoverboardAPI::Codes::sensHall, PROTOCOL_SOM_NOACK); in Hoverboard::read because can't get scheduleRead to work and send me hall data, but don't think it's an issue.
It's not a totally strange value, just something very close to zero. I'd assume the board returns non-zero values for speed, but cannot check right now.
When I launch hoverboard_driver (roslaunch hoverboard_driver hoverboard.launch) odom (rostopic echo hoverboard_velocity_controller/odom) looks good
linear.x = 0
andangular.z = 0
, when I send cmd_vel it also shows ok values, but when I stop sending cmd_vel twist gets strangelinear.x = -2.08166817117e-17
(or similar value) andangular.z = -7.11930514541e-15
(or similar value) until I send new cmd_vel.I've changed
api->scheduleRead(HoverboardAPI::Codes::sensHall, -1, 200, PROTOCOL_SOM_NOACK);
toapi->requestRead(HoverboardAPI::Codes::sensHall, PROTOCOL_SOM_NOACK);
in Hoverboard::read because can't get scheduleRead to work and send me hall data, but don't think it's an issue.