When using ramsete command to follow wpilib created trajectories there is always +- 5 cm position and +- 3 deg heading error at the end of the trajectory even if the odometry class accurately displays the error at the screen. But we are not able to make the ramsete controller correct itself.
We have a similar error and we thought it was normal and is in the acceptable range of error that we defined in robot characterization tool. We use vision with solvePNP to correct this error. But let’s hear from some of the developers that if it is indeed something expected or not.
You should be able to easily get under 1in/1deg of internal error using the ramsete controller algorithm. You should check your controller gains, the accuracy of the feedforward model, and if the motion profiling constraints placed on the trajectory are sensible.
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