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sbrodeur / ros-icreate-bbb

ROS (Robotic Operating System) packages for the iRobot Create with onboard BeagleBone Black
BSD 3-Clause "New" or "Revised" License
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Validate control range of motor speeds #13

Closed sbrodeur closed 7 years ago

sbrodeur commented 7 years ago

Ideally, with joystick control we should see smooth transitions in the velocities of the motors (e.g. analog mode), rather than a binary mode (e.g. null or full speed). It should look like this, and could even be smoother:

motors

We just need to validate this by viewing the motor control signals in rqt, then calibrate the joystick if necessary.

sgcarrier commented 7 years ago

joystick_cmd_raw

It's a bit hard to tell now that joystick commands are sent asynchronously, but here is the graph. We see values are no longer binary (max, min) and can take many values in between.

sbrodeur commented 7 years ago

This looks nice. What about plotting the same data, but from the topic /irobot_create/motors? With this topic, we will see exactly what the robot executed at all time.

sgcarrier commented 7 years ago

joystick_motors

Heres the motor, for the same sequence. We see the shape is roughly the same even though motors has a synchronous output.

sbrodeur commented 7 years ago

This is perfect! There is no problem here.