Real robot trouble-shooting and tuning

[mukmalone]

Need to work through the following steps/issues:

• [x] tune PID parameters based upon skid steering wheel configuration
• [x] validate IMU operation & filter tuning
• [x] validate odom accuracy
• [x] check laser sensor accuracy
• [x] validate mapping building
• [x] validate navigation
• [x] upgrade from kinetic -> noetic
• [x] integrate into web control system
• [x] document build of install and raspberry pi setup
• [x] store in github

[mukmalone]

Original:

• p=0.6
• d=0.3
• i=0.5

Current PID:

• p=0.55
• d=0.15
• i=0.125

[mukmalone]

Working on dead-reckoning and am having issues with the robot not turning correctly. When I turn it 90 degrees in the real-world it only turns about 30 degress. Same as this issue. So far I've validated:

• encoder pulses
• motor RPM

Next I am checking my base values and just modified distance between front and back before battery ran out. Will check status in morning.