Thank you for implementing and sharing this module!
I noticed the comment here describing that a bug is expected in the speed passed from the controller server, and the last commanded velocity is being used as a workaround (open loop control). The lack of odometry feedback has been causing my robot to experience motor controller errors as it tries to accelerate faster than the hardware allows in same cases, so I would like to reenable the speed integration (closed loop control).
I have not been able to find any documentation of the bug in received speed from the controller server, nor any relevant changes to the nav2 source. Is this expected to still be a problem in current versions of the controller server?
Thank you for implementing and sharing this module!
I noticed the comment here describing that a bug is expected in the speed passed from the controller server, and the last commanded velocity is being used as a workaround (open loop control). The lack of odometry feedback has been causing my robot to experience motor controller errors as it tries to accelerate faster than the hardware allows in same cases, so I would like to reenable the speed integration (closed loop control).
I have not been able to find any documentation of the bug in received speed from the controller server, nor any relevant changes to the nav2 source. Is this expected to still be a problem in current versions of the controller server?