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MoveOnMap breaks when SLAM is used with an IMU

Description

If an IMU is used with SLAM, it will use the IMU for orientation.

TP-space can only plan in the plane normal to the z-axis of the starting pose.

IMUs will never be mounted perfectly vertical, and thus will have a slightly off-vertical axis. This slight skew to starting orientation causes tp-space to be unable to plan to the goal.

We should update to ensure that correct orientation is enforced.

Docs changes clarification

None

Activity

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Peter LoVersoFebruary 1, 2024 at 10:43 PM

There are two different issues at play here:

  1. MoveOnMap calls CurrentPosition() twice per call and assumes the poses are the same. IMUs can have some slight wiggle call-to-call including with orientation

  2. An askew starting orientation moves the goal off of the X-Y plane and renders solving impossible

The first problem is trivially solvable by re-using the same initial pose when normalizing. The second is more complicated.

Done

Details

Assignee

Team

Motion Planning

Priority

Fix versions

Docs site change needed?

No

Reporter

Sprint

PagerDuty

Created February 1, 2024 at 9:24 PM
Updated February 20, 2024 at 10:04 PM
Resolved February 20, 2024 at 10:04 PM