DifferentialDrivetrainSimTest doesn't converge (sometimes) because of LTVUnicycleController

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DifferentialDrivetrainSimTest doesn't converge (sometimes) because of LTVUnicycleController #6630

Open Gold856 opened 2 months ago

Gold856 commented 2 months ago

DifferentialDrivetrainSimTest.Convergence fails in CI sometimes (1, 2, 3, 4). Earliest failure is from ~2 weeks ago, which correlates with the swap to LTVUnicycleController.

calcmogul commented 2 months ago

Could be measurement noise in the sim. We could try turning that off.