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Using ros.Time with a physical pheeno extends motion for longer than what is the pheeno_ros_sim model. For example, the physical pheeno will maintain its angular velocity for 10 seconds and complete 3 revolutions, while the simulator will only turn 90 degrees. This is more of an issue with the simulator than the pheeno, but it needs time adjustment in the obstacle_avoidance.cpp and the random_walk.cpp code.
This issue affects both branches.
The text was updated successfully, but these errors were encountered:
One thing I have noticed is that the speeds used in the actual Pheeno and the simulated one do not match properly. A speed of 1.2 for angular velocity matches the current pheeno velocity of 0.07. I may need to devise a way for users to be able to do this on the fly. Maybe through an inherited class?
Using
ros.Time
with a physical pheeno extends motion for longer than what is thepheeno_ros_sim
model. For example, the physical pheeno will maintain its angular velocity for 10 seconds and complete 3 revolutions, while the simulator will only turn 90 degrees. This is more of an issue with the simulator than the pheeno, but it needs time adjustment in theobstacle_avoidance.cpp
and therandom_walk.cpp
code.This issue affects both branches.
The text was updated successfully, but these errors were encountered: