Closed sbrodeur closed 7 years ago
See commit cbb5414 to allow easy switching between streaming and query-mode serial communication with the Create. It would be interesting to see how fast we can read the Create using query-mode.
Solved in commit 23e1827 using wheel velocity reported from the robot and yaw angle reported by the IMU. This needs to be tested on the robot.
Tested and fixed in commit 4db406b.
This is a known problem:
We should decide if we prefer accurate odometry (20 Hz) or fast sampling rate (100 Hz). Another solution would be to merge information from the wheel sensors and the IMU, but this is more complex.