{"action":"created","issue":{"url":"https://api.github.com/repos/open-rdc/orne_navigation/issues/151","labels_url":"https://api.github.com/repos/open-rdc/orne_navigation/issues/151/labels{/name}","comments_url":"https://api.github.com/repos/open-rdc/orne_navigation/issues/151/comments","events_url":"https://api.github.com/repos/open-rdc/orne_navigation/issues/151/events","html_url":"https://github.com/open-rdc/orne_navigation/issues/151","id":115750551,"number":151,"title":"2015年度のつくばチャレンジ本走行で発覚した問題、改良点を洗い出す","user":{"login":"DaikiMaekawa","id":3862239,"avatar_url":"https://avatars.githubusercontent.com/u/3862239?v=3","gravatar_id":"","url":"https://api.github.com/users/DaikiMaekawa","html_url":"https://github.com/DaikiMaekawa","followers_url":"https://api.github.com/users/DaikiMaekawa/followers","following_url":"https://api.github.com/users/DaikiMaekawa/following{/other_user}","gists_url":"https://api.github.com/users/DaikiMaekawa/gists{/gist_id}","starred_url":"https://api.github.com/users/DaikiMaekawa/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/DaikiMaekawa/subscriptions","organizations_url":"https://api.github.com/users/DaikiMaekawa/orgs","repos_url":"https://api.github.com/users/DaikiMaekawa/repos","events_url":"https://api.github.com/users/DaikiMaekawa/events{/privacy}","received_events_url":"https://api.github.com/users/DaikiMaekawa/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2015-11-08T18:26:11Z","updated_at":"2015-11-08T20:06:58Z","closed_at":null,"body":"各々がここに思ったことを書き込んでいきましょう。"},"comment":{"url":"https://api.github.com/repos/open-rdc/orne_navigation/issues/comments/154861940","html_url":"https://github.com/open-rdc/orne_navigation/issues/151#issuecomment-154861940","issue_url":"https://api.github.com/repos/open-rdc/orne_navigation/issues/151","id":154861940,"user":{"login":"DaikiMaekawa","id":3862239,"avatar_url":"https://avatars.githubusercontent.com/u/3862239?v=3","gravatar_id":"","url":"https://api.github.com/users/DaikiMaekawa","html_url":"https://github.com/DaikiMaekawa","followers_url":"https://api.github.com/users/DaikiMaekawa/followers","following_url":"https://api.github.com/users/DaikiMaekawa/following{/other_user}","gists_url":"https://api.github.com/users/DaikiMaekawa/gists{/gist_id}","starred_url":"https://api.github.com/users/DaikiMaekawa/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/DaikiMaekawa/subscriptions","organizations_url":"https://api.github.com/users/DaikiMaekawa/orgs","repos_url":"https://api.github.com/users/DaikiMaekawa/repos","events_url":"https://api.github.com/users/DaikiMaekawa/events{/privacy}","received_events_url":"https://api.github.com/users/DaikiMaekawa/received_events","type":"User","site_admin":false},"created_at":"2015-11-08T20:06:58Z","updated_at":"2015-11-08T20:06:58Z","body":"*  以前 https://github.com/open-rdc/orne_navigation/issues/97 で追加した障害物回避時の減速、及びリカバリー時の動作用に追加していた処理がリアル・ワールドでは有効に機能しなかった。\r\n\r\n減速しすぎて車輪がスタックするなどの現象が起きている。 必要に応じて速度に関するパラメータの調整、もしくは新規にプラグインを開発することで対応する。\r\n\r\n* バッテリー低下に伴って機体の直進性が低下する。 https://github.com/open-rdc/orne_navigation/issues/128 により判明。\r\n\r\nhttps://github.com/open-rdc/orne_navigation/issues/53 にて2014年度はYPSpurのパラメータを調整して左側に逸れる挙動を改善していたが、バッテリー低下によって再発することが確認された。 本来i-Cart miniが使用しているモータとモータドライバは大出力に対応していてこれはパラメータを最適化することにより性能を引き出すことが出来る。 左に大きく逸れる問題に関してもYPSpur側が計算に使用しているパラメータを修正することで対応可能であると推測させる。"}}