On Tue, Nov 30, 2010 at 6:35 PM, Eric Perko <
wisesage5001@gmail.com> wrote:
> It actually looked like it was a problem where one part of Stage was
> advancing by timesteps of 0.1 seconds at 20Hz (this would be whatever
> determines where the robot ends up in the Stage GUI and therefore where the
> data is simulated from) and another part of Stage was advancing by timesteps
> of 0.05 seconds at 20Hz (the position model that actually reports a location
> in order to simulate odometry). Basically, we'd tell the robot to go 2.5
> meters forward, the odometry that ROS was outputting based on the position
> model would report 2.5 meters forward, but the robot would have moved 5
> meters forward in the Stage GUI. It was always a multiple of the new update
> rate/10Hz... so for example it moves twice as far with a 20Hz update as a
> 10Hz update. It was quite entertaining to watch the robot teleport around
> with an update rate of 50 or 100Hz :)
> We never did find the exact spot that was causing the problem even after
> digging through a good bit of the Stage source, but it looked like 10Hz was
> pretty well assumed throughout all of Stage.
Is this problem found in the ROS-packaged stage version 3.2.2?
--
joq
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