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First calibrate it to fix major problems:

http://wiki.ros.org/turtlebot_calibration/Tutorials/Calibrate%20Odometry%20and%20Gyro

Traditionally you'd use MoveBaseGoal() instead of sending Twist messages. This will use AMCL to localize while moving forward allowing it to automatically "fix" some drifting etc.

Checkout some examples: http://learn.turtlebot.com/2015/02/01/13/

You can use "rostopic echo" to monitor everything TB is doing but I wouldn't consider this is fairly intimidating when you're getting started.

First calibrate it to fix major problems:

http://wiki.ros.org/turtlebot_calibration/Tutorials/Calibrate%20Odometry%20and%20Gyro

Traditionally you'd use MoveBaseGoal() instead of sending Twist messages. This will use AMCL to localize while moving forward allowing it to automatically "fix" some drifting etc.

Checkout some examples: http://learn.turtlebot.com/2015/02/01/13/

You can use "rostopic echo" to monitor everything TB is doing but I wouldn't would consider this is fairly intimidating when you're getting started.