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A few more questions:
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Thanks for your help, we use logging to subscribe to the
odom
topic, get their position and velocity. In each callback, calculate acceleration, updatepos
andvel
to get new ones forcmdFullState()
. However, what we want does not occur.acc = (-1.0,0,0)
, it almost does not move.count += 1
after each callback,pos[0] = 0-count/rate
is updated with increasingcount
,vel = (-1.0,0,0)
,acc = (-1.0,0,0)
. It moves to the negative axis of X, but it move much slower than expected. From x = 0 to reach x = -1, spends about 3 seconds.(-1.0,0,0)
, change parameters to constantacc = (-1.0,0,0)
in case 1. Calculate newpos
andvel
, althoughvel
has large value(but limited explicitly for safety),pos
is moving away from origin, it becomes slower and does not move soon.It seems like
cmdFullState
has slow or little effect when displacement (desired position-estimated position) is small, so the velocity part becomes smaller and smaller until it becomes 0, a kind of bad positive feedback.Beta Was this translation helpful? Give feedback.
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