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jeguzzi / robomaster_ros

ROS2 for DJI Robomaster EP and S1
https://jeguzzi.github.io/robomaster_ros
MIT License
49 stars 10 forks source link

the robot moving slowly without any command applied to cmd_vel #11

Open UserName-wang opened 7 months ago

UserName-wang commented 7 months ago

I used command: sudo docker compose up to started the robotmaster S1. I didn't send any command to _cmdvel, but the robot was moving slowly itself. why?

zhuhaier1992 commented 6 months ago

It's actually the default behavior of RoboMaster to resist inteference and hold position. It just functions not well.

UserName-wang commented 6 months ago

Ok, understood and thank you!在 2023年12月23日，18:42，SilasVale @.***> 写道： It's actually the default behavior of RoboMaster to resist inteference and hold position. It just functions not well.

—Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you authored the thread.Message ID: @.***>

zhuhaier1992 commented 6 months ago

Ok, understood and thank you!在 2023年12月23日，18:42，SilasVale @.> 写道： It's actually the default behavior of RoboMaster to resist inteference and hold position. It just functions not well. —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you authored the thread.Message ID: @.>

You are welcome. And it's not an exact answer. As I vaguely remember, possibly it happens when you give it an action command, after 'timeout' second it would behave like this. Anyway, there's some mechanism for this...

jeguzzi commented 2 months ago

Hi All,

if you see the robot moving by itself, as @zhuhaier1992 pointed out, it is trying to stay still using its state estimation: wrong state estimation => wrong movements. To get a better state estimation, use the Robomaster app to calibrate the IMU (accelerometer and gyroscope). A robot rotating in place instead of staying still is very probably caused by a bias in the gyroscope.