ros-ukraine/leobot

Robot oscillates in simulation

Closed this issue · 4 comments

MaxZhaloba commented

Steps to reproduce:

  1. Run simulation.launch
  2. Run teleop.launch from leobot_control
  3. Operate the robot and turn left or right
  4. Robot starts swaying left to right with about 1 Hz frequency
LyubomyrD commented

Yes, I know that. My lucky guess is that this is due to PID parameters of the controller especially Kd which deals with oscillation. I tried to tune it but did not give it too much effort.

https://github.com/ros-ukraine/leobot/blob/kinetic-devel/leobot_control/config/gazebo/leobot_control.yml#L17#L19

MaxZhaloba commented

I've just gave it a try, launching simulation with keyboard teleoperation. I've noticed such changes comparing to kinetic-devel

  • No oscillation at all
  • Reduced speed and better robot control when using keys. In old version the robot was advancing or rotating too fast when I just pressed a key once. Now it starts to move slowly and gains speed if I continue holding the key.

@LyubomyrD, just curious, what was the underlying reason of oscillation?

LyubomyrD commented

@MaxZhaloba The speed and acceleration limits were inappropriate

I am glad that robot behaves better now.

LyubomyrD commented

@MaxZhaloba
@AndriyPt

Do you think that it is worth aproving the PR?