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Navigation on real robot

meldoic
ROS1

asked 2021-09-11 02:20:21 -0500

Paulidrobo
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updated 2021-09-14 09:44:03 -0500

Hello,I am new to ros as most other user. My robot is in environment and I am able to create for my environment and start navigation. But the problem is when I put my rela robot in air it takes consideration from the wheel encoder and update the postion on the real map but in real reality it is not moving from the postion.

1)What can I do to get rid of this?

2)Also I have used two microcontrollers for odometry calculation using interrupts concept, how can I make it to one or even none if I can use one of the core of my processor(master).

Edit1:Guided by https://www.youtube.com/watch?v=Uz_i_...

Please answer I will edit the answer if you need any other extra information. Thanks

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answered 2021-09-13 15:32:57 -0500

Ronro
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What does "in air" mean @Paulidrobo? Have you looked for issues around the interrupts?

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In air means I lift it up. I am looking to have 1 MCU instead of two. Currently I have 2 arduino in working. I am guided by https://www.youtube.com/watch?v=Uz_i_...

Paulidrobo ( 2021-09-14 09:42:48 -0500 )edit

Sorry but I don´t understand why do you lift up your robot

Ronro ( 2021-09-14 15:22:17 -0500 )edit

No,I did it for testing.Suppose some immovable obstacles comes and is not detected by the lidar due to height restraints. But my wheels do rotate and feed odometry data to the nav stack.

Paulidrobo ( 2021-09-15 09:27:14 -0500 )edit

Try to check the code of your interruptions on the microcontrollers. That´s where I would start if I were you.

Ronro ( 2021-09-16 09:55:46 -0500 )edit

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Asked: 2021-09-11 02:20:21 -0500

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Last updated: Sep 14 '21

Navigation on real robot edit

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