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Straight line into turn: starting turn too early #153

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whoutman opened this issue Apr 15, 2022 · 0 comments

whoutman commented Apr 15, 2022

After a discussion with @cesar-lopez-mar:

In the figure below,

a straight path is followed by a corner
the robot starts executing the straight path, as indicated by the red arrows
the debugging markers of the path_tracking_pid are indicated as well
halfway, the robot starts rotating. Based on the debug markers, it seems that starts executing the corners.

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