search

uf-mil-archive / PropaGator

ROS packages specific to the PropaGator robot
9 stars 11 forks source link

AZI drive has a bad wrench zone #42

Open fnivek opened 9 years ago

fnivek commented 9 years ago

We have noted that when AZI drive is supplied certain wrenches in the 1st quadrant of the base_link frame, AZI drive over corrects and lurches the boat in the forward left direction.

jpanikulam commented 9 years ago

Is this a controller problem, or an azi drive problem?

On Jul 7, 2015, at 9:34 PM, fnivek notifications@github.com wrote:

We have noted that when AZI drive is supplied certain wrenches in the 1st quadrant of the base_link frame, AZI drive over corrects and lurches the boat in the forward left direction.

— Reply to this email directly or view it on GitHub.

fnivek commented 9 years ago

Didn't specify because I don't know but I'm leaning towards azi right now.

jpanikulam commented 9 years ago

Pushed a fix to the jacob_planner branch. This is quite a substantial change, but will function as a drop-in replacements. The changes that are important are commits 9b3f91e and 810af70, the first two made on July 8th. I did not force a merge because we have diverged quite a bit.

Items of note

Conclusion

I am only doing all of these wacky things because of the rush situation. Changes are almost entirely undocumented because I made them in the last four hours. If you run into an error relating to the C++ bindings, the azi_drive module or anything involving "cvx", call me on my cell. Godspeed!

@fnivek can you confirm that this resolves the issue?

fnivek commented 9 years ago

As soon as I have some down time I'll check but it's hectic here do it may be awhile