the robot moving slowly without any command applied to cmd_vel

[UserName-wang]

I used command: sudo docker compose up to started the robotmaster S1.
I didn't send any command to cmd_vel, but the robot was moving slowly itself.
why?

[zhuhaier1992]

It's actually the default behavior of RoboMaster to resist inteference and hold position. It just functions not well.

[UserName-wang]

Ok, understood and thank you!在 2023年12月23日，18:42，SilasVale ***@***.***> 写道： It's actually the default behavior of RoboMaster to resist inteference and hold position. It just functions not well. —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you authored the thread.Message ID: ***@***.***>

[zhuhaier1992]

Ok, understood and thank you!在 2023年12月23日，18:42，SilasVale @.> 写道： It's actually the default behavior of RoboMaster to resist inteference and hold position. It just functions not well. —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you authored the thread.Message ID: @.>

You are welcome. And it's not an exact answer. As I vaguely remember, possibly it happens when you give it an action command, after 'timeout' second it would behave like this. Anyway, there's some mechanism for this...

[jeguzzi]

Hi All,

if you see the robot moving by itself, as @zhuhaier1992 pointed out, it is trying to stay still using its state estimation: wrong state estimation => wrong movements. To get a better state estimation, use the Robomaster app to calibrate the IMU (accelerometer and gyroscope). A robot rotating in place instead of staying still is very probably caused by a bias in the gyroscope.