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Sudden velocity changes and their impact on a Turtlebot

asked 2018-08-09 19:54:30 -0600

pitosalas gravatar image

updated 2018-08-09 19:55:29 -0600

I am using a Turtlebot3. Their provided "teleop" code example the code makes sure that the velocity requested via cmd_vel messages don't change too quickly too radically. However many of the other examples seem to just send cmd_vel's without worrying too much about ramping. Some say that the motors (dynamixels) or the motor controller board (opencr) will make sure that the ramping happens and that cmd_vels above the maximum speeds are ignore. I am having a hard time getting clear on this.

So my question is: If I send a series of cmd_vel with for example x = 0.15 and immediately follow it with a cmd_vel with x = 0, with that harm the robot in any way?

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answered 2018-08-10 02:36:37 -0600

gvdhoorn gravatar image

I don't know about TB3, but on TB2 (kobuki base), the yocs_velocity_smoother nodelet takes care of properly filtering incoming Twists.

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Asked: 2018-08-09 19:54:30 -0600

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Last updated: Aug 09 '18