Patrick,

Can you confirm that changing just your odometry publishing rate back to
20Hz causes the failure? The last person with a similar problem was unable
to reproduce when he changed his lidar rate back to what it was previously.
Also, I'm a bit surprised that lowering your odometry rate fixed things - I
publish odometry at 50Hz and don't see this sort of problem...

- Eric

On Mon, Sep 27, 2010 at 5:55 PM, Patrick Goebel
<patrick@casbs.stanford.edu>wrote:

> 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
>
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