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what is the rolling_pts parameter in differential_drive?

asked 2015-08-10 06:52:37 -0600

miguel gravatar image

Hi everyone,

What does the rolling points parameter mean in the differential_drive package? Is is robot specific? and how do I obtain it for my robot?

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answered 2015-08-10 08:43:34 -0600

Airuno2L gravatar image

This isn't clear in the code, and took a little reading around, but rolling_pts is used in the file to set how many past velocity measurements are used to calculate the average velocity. For example, setting rolling_pts to 2 will make PID controller average the 2 latest velocity measurements to create what it considers the "current velocity".

The name is a little misleading, but now that I know what it does, it is called "rolling" because it is a rolling average. I assume this is done because only using the single latest velocity measurement, instead of an average, could be a bit noisy in some situations, so using the average smooths things out a bit.

p.s. the way I figured this all out was a reference to rolling_pts in this slightly related page.

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Thank you so much! Makes sense now!

miguel gravatar image miguel  ( 2015-08-10 09:15:08 -0600 )edit

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Asked: 2015-08-10 06:52:37 -0600

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Last updated: Aug 10 '15