[Bug] Inaccurate movements

[professor.herman]

This is an error report.

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Screenshot of the error

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Error details

robotcontrol.turn("counterclockwise", 1.5708, 1) Doesn't this mean the robot should turn 1.5708 (ie. 90 deg) radians in one second?

[jpvaldivia7]

Hi @professor.herman, yes, you are correct that the method call robotcontrol.turn("counterclockwise", 1.5708, 1) is intended to make the robot turn counterclockwise at a speed of 1.5708 radians per second for 1 second.
You can also check the method definition that is:

    def turn(self, clockwise, speed, time):

        # Initilize velocities
        self.cmd.linear.x = 0
        self.cmd.linear.y = 0
        self.cmd.linear.z = 0
        self.cmd.angular.x = 0
        self.cmd.angular.y = 0

        if clockwise == "clockwise":
            self.cmd.angular.z = -speed
        else:
            self.cmd.angular.z = speed

        i = 0
        # loop to publish the velocity estimate, current_distance = velocity * (t1 - t0)
        while (i <= time):

            # Publish the velocity
            self.vel_publisher.publish(self.cmd)
            i += 1
            self.rate.sleep()

        # set velocity to zero to stop the robot
        self.stop_robot()

        s = "Turned robot " + clockwise + " for " + str(time) + " seconds at " str(speed) + "  radians/second"
        return s