Odometry data delay

asked 2019-05-07 04:34:26 -0500

SleepyTurtle gravatar image

updated 2019-05-07 04:34:48 -0500

I'm trying to implement the navigation stack but am having trouble with my odometry data. It seems to be delayed, judging by RVIZ: Once I tell the robot to move, it starts moving physically, but still takes a couple of seconds to start moving in RVIZ. The same happens when I tell it to stop. The robot stops immediately, but it's RVIZ model continues to move a couple of seconds more.

This is causing issues with my laser scan data, which does seem to work properly, so that when the robot starts or stops, it gets "dragged" across the map.

What could cause this kind of behaviour?

Thank you!

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Which robot are you using physically?
It may be caused by a communication delay between your odometry sensor and the computer. How are you communicating with it?

Lucas Marins gravatar image Lucas Marins  ( 2019-05-07 12:20:14 -0500 )edit

@Lucas Marins It's a custom robot. I'm using this controller for the motors https://www.roboteq.com/index.php/rob... and a very heavily modified version of http://wiki.ros.org/roboteq_diff_driver to interface with it.

The delay from the controller is my most recent hypothesis as well since the time stamps (which I stamp when the data is received by the pc) seem to be correct and in sync with the rest of the system. I'm communicating via USB. Thank you for your interest and time!

SleepyTurtle gravatar image SleepyTurtle  ( 2019-05-08 00:56:28 -0500 )edit