The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Alright I see a few things here that might help.
1) You're fusing your robot's odometry position information differentially. Thinking about that for a moment, what does that _mean_? You're taking some ticks from a wheel encoder, integrating them together, then differentiating them? That's probably not what you want. Try using in the velocity information from your odometry, not the position information, and turn off differential.
2) You've set these _threshold parameters, you sure those are good?
3) Your IMU is being fused with the yaw velocities. That's a reasonable thing to do if you IMU doesnt give you out a fused orientation. I'd stick with that if its given
4) You didn't show us your process / sensor covariances, that's relevant here.
Keep in mind this is filtering, there's going to be some error no matter what you do, this is what global updates are for. Good sensors aren't necessarily always replacable by highly tuned filtering depending on your requirements (which are...?)., but I would expect you to get better than 15% in that short of a period of travel.
I see you also filed a ticket on R_L, please do close that so we're not having cross conversations.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
