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how to control kobuki accurately?

asked 2015-06-11 20:50:51 -0600

NKUBRUCE gravatar image

when I pubish a small commond of angular velocity to kobuki, the kobuki start to move after a long time. How to control the kobuki accurately? I mean the kobuki move as the command I published.

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Which packages are you using? Standalone for Kobuki or turtlebot2? Does it happen when teleoperating with the kobuki_keyop package?

Javier V. Gómez gravatar imageJavier V. Gómez ( 2015-06-12 02:16:59 -0600 )edit

It is same.

NKUBRUCE gravatar imageNKUBRUCE ( 2015-07-08 21:11:51 -0600 )edit

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answered 2015-06-12 04:26:14 -0600

daenny gravatar image

I guess your "problem" lies in the "velocity_smoother" package. ( http://wiki.ros.org/yocs_velocity_smo... ) This package ramps the speeds up and down in order to provide smoother commands to the base. You can play around with the parameters of this package using dynamic reconfigure, e.g. change the acceleration and deceleration limits to ridiculously high values to see if that makes a difference, or skip the node all together by directly publishing on the control topic:

/mobile_base/commands/velocity

Otherwise, it could also be network latency or a time sync issue if you control the kobuki from a workstation pc and not directly from the laptop connected to the base. This is easy to check by directly running the code on the laptop without any network connection in between.

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when I pubish a small commond of angular velocity to kobuki on the topic "/mobile_base/commands/velocity" , the kobuki still start to move after a long time. Maybe I have to work on iRobot Create

NKUBRUCE gravatar imageNKUBRUCE ( 2015-07-08 21:11:26 -0600 )edit

Sorry, I lost track of the topic. It could be the floor you are driving on. The support wheels are fixed, so if they do not slip easily, the motors are to weak turn the base and it gets "jumpy". Try on hardwood floor, carpets and tiles, and see if the problem is the same.

daenny gravatar imagedaenny ( 2015-09-23 10:06:02 -0600 )edit

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Asked: 2015-06-11 20:50:51 -0600

Seen: 1,164 times

Last updated: Jun 12 '15