Revision history [back]

This is what I have done with turtlebot's calibration, and finally got a good map building:

1. Firstly run rosrun dynamic_reconfigure reconfigure_gui, check your part number of your Gyro then change. Keep other parameters same.
2. put your turtlebot in front wall, run roslaunch turtlebot_calibration calibrate.launch, then you will get multiply values for Gyro_scale_correction and Odom_angular_scale_correction. Do multiplying.
3. rerun rosrun dynamic_reconfigure reconfigure_gui, set a new Gyro_scale_correction and Odom_angular_scale_correction. Back to step 2 until you get both multiply values are close to 1.

This is my result after 8 times running calibration: My Gyro part number is ADXRS652 ( setting is 250 )

• Gyro_scale_correction : 1.4472
• Odom_angular_scale_correction: 1.04

Remember edit turtlebot.launch file with 2 new parameters.