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Enable obtaining robot pose from TF tree #518

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orduno opened this issue Jan 8, 2019 · 1 comment · Fixed by #793
Closed

Enable obtaining robot pose from TF tree #518

orduno opened this issue Jan 8, 2019 · 1 comment · Fixed by #793
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@crdelsey
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2 - Medium Medium Priority bug Something isn't working
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Navigation 2 Kanban
Milestone
D Turtle Release

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@orduno
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orduno commented Jan 8, 2019 •
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In some situations we might need more often approximations of the robot pose (such as with MotionPrimitives, see #516) .

It's a bug (at least on the Primitives) since we see the following behavior:

  • Send a request to backup x distance.
  • The controller will compare the initial position with x and start moving the robot.
  • The controller will run through several cycles of comparing the actual position with x.
    • However, since the pose is coming from AMCL, it might not be updated recently.
  • After a few cycles, the pose is updated and possibly we overshoot the desired position.
@orduno orduno added the 2 - Medium Medium Priority label Jan 8, 2019
@orduno orduno self-assigned this Jan 8, 2019
@orduno orduno added this to To do in Navigation 2 Kanban via automation Jan 8, 2019
@crdelsey crdelsey added 1 - High High Priority and removed 2 - Medium Medium Priority labels Jan 8, 2019
@orduno orduno mentioned this issue Jan 8, 2019
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@crdelsey crdelsey moved this from Incoming Issues to High Priority Issues in Navigation 2 Kanban Jan 22, 2019
@crdelsey crdelsey added the bug Something isn't working label Feb 4, 2019
@mkhansenbot
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@orduno - is this a bug or an enhancement request? If it's a bug, can you explain what is failing?

@mkhansenbot mkhansenbot added 2 - Medium Medium Priority and removed 1 - High High Priority labels Feb 19, 2019
@crdelsey crdelsey moved this from High Priority Issues to Medium Priority Issues in Navigation 2 Kanban Feb 20, 2019
@crdelsey crdelsey assigned crdelsey and unassigned orduno Mar 7, 2019
@crdelsey crdelsey added this to the EndMarch milestone Mar 12, 2019
@crdelsey crdelsey moved this from Medium Priority Issues to For Upcoming Release in Navigation 2 Kanban Mar 18, 2019
@crdelsey crdelsey moved this from For Upcoming Release to In progress in Navigation 2 Kanban Mar 25, 2019
@crdelsey crdelsey mentioned this issue Jun 7, 2019
Merged
@crdelsey crdelsey modified the milestones: EndMarch, D Turtle Release Jun 10, 2019
Navigation 2 Kanban automation moved this from In progress to Done Jun 25, 2019
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@crdelsey crdelsey

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2 - Medium Medium Priority bug Something isn't working
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Navigation 2 Kanban
  
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D Turtle Release
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Transform robot pose lifecycle crdelsey/navigation2
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@mkhansenbot @crdelsey @orduno