Hello;

Currently working on a Sonar Based ‘failsafe’ object avoidance code, which was originally developed and tested in Aria, and since porting it from Aria to ros – p2os I have found its gone from behaving as expected to being very inconsistent at best, even after increasing its internal parameters so both stop and stop/disable zones are significantly larger. I would expect part of this would be lag in the subnet the robot and my laptop are connected into, but even moving the code onto the powerbot these same issues are occurring. Eg. The robot is hitting our test object.  

Note – The first set of tests had only the p2os node on the powerbot, and roscore, my failsafe code, and a modified version of the teleop_keyboard base code from the p2os package running on an hp tm2-2050 laptop, and when the code was moved to the powerbot everything except for the teleop code was moved to run on the powerbot but not utilizing the local loopback.

When this code was developed and tested in aria, it behaved as expected, and its very light weight (running a simple profile in aria was giving run times of around 28s for 1,000,000 sets of readings and decision on all the sonar sensors) which ran on the powerbot itself, and the code hasn’t been significantly modified, except to talk using the ROS framework to the applicable channels. So I would expect it isn’t the issue.

Hopefully someone can shed some light on the issues encountered.

Thanks, Matt Bergsma