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Real robot porting and test #7

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Geonhee-LEE opened this issue Aug 25, 2020 · 4 comments
Open

Real robot porting and test #7

Geonhee-LEE opened this issue Aug 25, 2020 · 4 comments
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@Geonhee-LEE @CzJaewan
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@Geonhee-LEE
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Real robot porting and test
@CzJaewan
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CzJaewan commented Sep 16, 2020 •
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Real world test

  • 장소 : 하이테크관
  • 로봇 : servingbot
  • 결과
  • 동영상 notion -> study material -> Plan -> servingbot real world
  • lookahead 정상 작동,
  • avoidance 자체는 잘 동작 ( 가로막았을 때 감속, 회전, 정지 )
  • 주행이 부드럽지 못함 path를 잘 tracking 하지 못함, cmd_vel 에 잘 작동하지 않는 것 처럼보임.
  • 원인으로 control time ( openCR Motor control ) 라고 예상
  • 초기 cmd_vel에 작동하지 않다가 급 가속하는 현상 발생
  • 골 근처에 가도 끝나지 않음.
  • 정지 시 관성으로 인해 밀리는 현상이 있음.

@Geonhee-LEE
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@CzJaewan 결과 영상있으면 공유 부탁드립니다

@CzJaewan
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@Geonhee-LEE rviz 화면 밖이 녹화안해서 오늘 다시 촬영하고 보내드리지요

@Geonhee-LEE
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https://www.notion.so/servingbot-real-world-4a84589348bb47efa4df8f6900757407

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@Geonhee-LEE @CzJaewan