Updated Wheel encoders for Round #203
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Measured the wheel radius and wheel base and updated the wheel encoder node to match. Noetic displays a timestamp warning for every message that is not later than the last message recieved. This makes the repl unusable. Added a minimum delta time between publishing so avoid that problem. Still need to figure out the minimum delta. This issue of spamming warnings is under active discussion on the devs github.
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I'm concerned about the timing in the driver it is making decisions at 10hz and I've considered moving that up to 100hz so the odom only being every second will cause issues. |
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Thanks for verifying that. I did it by eye, so I’m glad it wasn’t too far off.
… On May 5, 2021, at 1:26 PM, Carter Frost ***@***.***> wrote:
Numbers look good per https://gitlab.com/scheducation/srcp2-final-public/-/wikis/3.-Simulation/5.-Dimensions-and-Specifications
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Agreed - we can set the encoder to update at any rate you want.
…Sent from my iPad
On May 5, 2021, at 1:41 PM, Carter Frost ***@***.***> wrote:
I'm concerned about the timing in the driver it is making decisions at 10hz and I've considered moving that up to 100hz so the odom only being every second will cause issues.
might need to agree on timing for the robot with constraints limited by the sensors
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Lets try 10hz for this PR and see how it goes |
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Uncomment wheel_encoders in SC2/src/scoot/launch/scoot.launch |
Carter90
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May 14, 2021
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| # Check that sufficient time has passed to avoid duplicate time stamps | ||
| if dt < 1: # Requre at least 1 second to have passed between function execution |
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Lets try at most a 10th of a second
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The minimum time delta between messages is now 1/10th sec. Strangely the odom estimate is much worse when the update rate is changed from 1/10 s. :(
For some reason the pose handler for the wheels is in degrees so had to add a conversion to radians (this must be new) The IMU's yaw is offset from the rover by 45 degrees Had to add a factor of 2pi. I can see no reason why this was needed but results in a usable wheel encoder.
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How should I test this pull request? |
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Hi Abby,
Load up the simulation and the REPL. Then “rosrun localisation wheel_encoders” (.py maybe). Echo the output of /<robot_name>/odom and see how the x, y position changes as you drive around. It will get increasingly inaccurate but shouldn’t be horrible to start with. I like to move the robot to 0,0 in the gazebo global frame so it is easy to compare to the odom frame output which will also start at 0,0.
All the best,
Matthew
… On Jun 4, 2021, at 11:08 AM, Abby Pribisova ***@***.***> wrote:
How should I test this pull request?
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Everything runs well on my end - I don't have a good intuition on how well the odometry should perform. Once Carter's recommendations are implemented, I can approve. |
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Measured the wheel radius and wheel base and updated the wheel encoder node to match.
Noetic displays a timestamp warning for every message that is not later than the last message received. This makes the repl unusable. Added a minimum delta time between publishing to avoid that problem. Still need to figure out the minimum delta. This issue of spamming warnings is under active discussion on the devs github.