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 requested motor velocity differs from real value #28

Closed sbrodeur closed 7 years ago

sbrodeur commented 7 years ago

When I send commands to the motor manually (e.g. at 10 mm/sec):

rostopic pub /irobot_create/cmd_raw create/MotorSpeed 'auto' 10 10

The motor velocities that can be read on the the topic /irobot_create/motors are of values 11, not 10. This may be due to some rounding error. This needs to be investigated.

sbrodeur commented 7 years ago

It appears the problem is only for very low velocities (e.g. 10 mm/sec), and disappear for more realistic velocities (e.g. 100mm/sec).