Thanks for the response and sorry for the delay.
I’ve tried both 5W and 10W (MAX-N) mode. It doesn’t seem to make a difference.
Here are logs from gmapping_distributed_host, gmapping_distributed_kaya, and tegrastats during a test run:
I was driving with the joystick and it stopped within a minute. I’ve noted a couple of things in the logs.
First, when starting the app on the kaya, there are a few errors from Dynamixel about input voltage, but then it starts up and runs. This always happens, even in the joystick app.
Second, when it dies, there is a Dynamixel overload error. I’ve tested this while the kaya was sitting on a block, so the wheels can spin freely. I’ve only run this for a few minutes like this, but I don’t get the error, so presumably it’s the motor meeting resistance when actually driving? While testing on the bench, with free spinning wheels, I tested voltage across the power hub and it doesn’t vary much from 12V. I even tried giving the wheels a little resistance with my hands, but didn’t want to be too aggressive.
I have also learned that I can then restart the app and it works again (well, until it fails again). I was misinterpreting the error as a power issue, but the battery is not actually drained. It seems to be something with the Dynamixel motors, but I’m not sure how to diagnose them further.
Thanks so much for any information to help me get past this. I’m happy to run any other tests and share details back here, but I’m not really sure what to do.