Throttle Interpolator Clock Jitter #5
Description
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.