wheel_vel/data equal 0 one in three

Hello, I'm trying to use http://wiki.ros.org/differential_drive for my little robot.

But PID is not working and I think it's due to wheel_vel/data witch is equal to 0 one in three data.

Has anyone already been faced to this ?

My launch file parameters are :

Kp = 25 Ki = 10 Kd = 0.001 outmin and max -255 / 255 rate = 30 timeoutticks = 4 rollingpts = 2

Asked by Spacegoat on 2020-03-18 09:00:09 UTC

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Answers

I have my answer :

By changing rolling_pts to 20 have no more 0 data. Futhermore, I changed rate parameter to 20 it's seems better like this, at least it's easier to read the values on the cmd.

Asked by Spacegoat on 2020-03-18 09:43:46 UTC