Irregular X2/odom

Issue #170 resolved
Martin Dlouhy created an issue

I am investigating issues with really bad global position (when compared to Gazebo 9 simulation) and one of the sources could be irregular update of “X2/odom” topic. The difference of ROS timestamps is variable:

12000000
12000000
16000000
 8000000
12000000
16000000
16000000
12000000
12000000
20000000
12000000

so I expected that it is “feature” but if I check “X2/base_link/imu_sensor” topic I get stable

4000000
4000000
4000000
4000000
4000000
4000000
4000000
4000000
4000000

39568 times 🙂

Is it expected?

Comments (9)

  1. Martin Dlouhy reporter

    The same holds for the latest release from yesterday “simple_tunnel_01”:

    20000000
    20000000
    16000000
    20000000
    20000000
    20000000
    20000000
    24000000
    20000000
    20000000
    20000000
    
  2. Addisu Z. Taddese

    Thanks for reporting this issue. The rate of the Odometry topic is supposed to 50 Hz, but it appears there's an issue that causes the variability you noticed. We'll work on a fix.

  3. Alfredo Bencomo

    Martin,

    This has been improved now, can you update your catkin workspace or install the latest Docker image(s)?

  4. Alfredo Bencomo

    Not yet until we include another PR that addressed issue #173. However, you should be able to test the odom-freq using the docker images currently available in DockerHub. If you're using catkin workspace, then just run the following commands:

    $ sudo apt-get update && sudo apt-get upgrade
    $ sudo reboot
    
    $ cd ~/subt_ws/src
    $ hg pull && hg up -C
    
  5. Martin Dlouhy reporter

    Well, I tried, my X2 robot missed the entrance but I can confirm that all the messages are with 20ms step. Thank you 🙂

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