Strange sounds from wheel motors and slow action responses

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Thank you for the trace and diagnostics data. It appears that the issue may be related to the Pimu trigger_motor_sync issue that we are debugging on this thread.

One thing you can try is disabling the motor sync functionality temporarily. This will cause the wheels to move slightly out of synchronization (and therefore introduce odometery errors). However, if you no longer see the issues then it will confirm that this is indeed the root cause.

To turn it off, try adding to your ~/stretch_user/stretch_re2_xxx/stretch_user_params.yaml:

hello-motor-right-wheel:
  gains:
    enable_sync_mode: 0
hello-motor-left-wheel:
  gains:
    enable_sync_mode: 0

We’ll keep you posted when we resolve the underlying Pimu trigger_motor_sync issue.