Roomba Create has incorrect odometry in fast streaming mode

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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Roomba Create has incorrect odometry in fast streaming mode #27

Closed sbrodeur closed 7 years ago

sbrodeur commented 7 years ago

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.

sbrodeur commented 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.

sbrodeur commented 7 years ago

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.

sbrodeur commented 7 years ago

Tested and fixed in commit 4db406b.