The throttle interpolator node (vesc/vesc_driver/src/throttle_interpolator.py) attempts to smooth out motor commands in order to produce less jerky motions. However, the rate of increase or decrease when performing the interpolation is dependent upon a ROS timer. Jitter in this timer can significantly affect how quickly the motor commands reach the set point.

A way to reproduce this is to send a single teleop motor command, and then view the series of non-zero commands that the throttle interpolator publishes. If you repeat this with the same single motor command, you will likely see that the resulting series of published commands from the throttle interpolator is not the same.

hello
i clone all files and all but when i run the mushr that time when i press forward then the wheel turn backward and then i press left so it does not work. i use keyboard buttons. so now what should i do?

@romesco pointed out that vesc_driver/speed_min set in vesc/vesc_main/config/racecar_uw_nano/vesc.yaml limits how fast the car can move backwards, although it may be more intuitive for it to limit how fast it can move forwards. Similarly, vesc_driver/speed_max limits how fast the car can move backwards, but it might be more intuitive for it to control how fast it moves forwards. I believe that this mismatch is caused by the fact that the speed_to_erpm_gain is negative.