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How to tweak the Odometry accuracy in gazebo?

I am working with the turtlebot simulator. I have subscribed to the topic /Odometry to read the message on it. I compute the difference between the location in this message and the ground truth location of the robot. I subscribe to the /gazebo/modelstates topic to obtain the ground truth location (the "mobilebase" component of the message).

This is the plot of the difference (2D euclidean distance) between the Odometry message and ground truth location: (the sample number increases linearly with time, so the x-axis is proportional to simulation time)

Odometry Accuracy (right click here and select "Open in new Tab" to view):

Are there parameters that can be tweaked to reduce this level of accuracy? The problem is that the odometry seems to be accurate within a few centimeters, which is unrealistic. This limits what we can study using the simulated model.

Asked by tadityasrinivas on 2014-08-12 12:44:06 UTC

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did you try adding noise ?

Asked by bvbdort on 2014-08-13 15:50:54 UTC

Could you please describe how to?

Asked by tadityasrinivas on 2014-08-13 16:10:36 UTC

generate gaussian noise with current odometry as mean and variance as you want. Check zero mean gaussion here https://github.com/ros-planning/navigation/blob/hydro-devel/amcl/src/amcl/pf/pf_pdf.c#L132 also for your case take a look at ftp://ftp.taygeta.com/pub/c/boxmuller.c

Asked by bvbdort on 2014-08-14 03:18:33 UTC

Answers

Can someone reply to this? How to also visualize perfect odometry vs noisy-odometry in rviz by making the turtelbot go in squares?

Asked by pravi on 2020-11-25 09:51:53 UTC

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