Hi Eitan,

No sooner had I sent you that last message that it occurred to me to try 
a slower odometry publishing rate on my base controller.  I had it set 
to 20 Hz but took it down to 10 Hz and now everything is working 
beautifully.  So I guess the difference between the real robot and the 
simulation is that the simulation can keep up with (almost) any rate.  
In the meantime, I am tickled to finally have all this working so thanks 
again for your help!

Patrick Goebel
Behavioral Sciences
Stanford University

> Patrick,
>
> There are two things to try:
>
> 1) Record a bag file of the problem on the robot. Just record everything
> since it should only take a couple of seconds to see the problem from 
> what
> you've been saying. If you send me the bag, I can try to track down 
> what's
> going on that way.
>
> 2) Reproduce the problem in simulation. If you can get this to happen in
> stage in a reproducible manner, that would make it super easy to track 
> down.
> You can use the navigation_stage 
> (http://www.ros.org/wiki/navigation_stage)
> package as a starting ground, make whatever modifications you want, 
> and post
> a patch. I tried this in the morning with your configuration files to
> attempt to reproduce the result, but didn't have any success.
>
> I'm still a bit baffled about my inability to reproduce this in 
> simulation
> as I don't see what would be different between that and a real robot.
> Perhaps the bag file will help. I'll also take a pass over the code 
> again as
> well to see if there's something glaring that jumps out at me.
>
> Hope all is well,
>
> Eitan