Odometry error in translation

Dear all,

I am currently using my holonomic robot and laser sensor to build a map with slam_gmapping. Howerver the map quality is poor. Then I found out something wrong with odometry by following this tuning tutorial to test odometry.

When I performed rotation, setting decay time of laser scan is 20, then scan data showed good result. However, when I put robot 90 cm away of wall, then moves robot toward to the wall, the scan data looked strange like this.

image description

So what could be problem with my odometry and any solution ?

Thank you all!

Asked by WB on 2015-09-11 05:08:22 UTC

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Answers

It seems that your translation in odometry is incorrect. You can just check, by displaying the /odom /base_link transform and driving, e.g., 1m ahead. The transform should have moved 1m. If not, fix your odometry.

Asked by dornhege on 2015-09-11 05:42:46 UTC

Comments

Thanks Dornhege!

So this is the result of (rosrun tf tf_echo /odom /base_link) when I move robot forward 1 metre in real. Seems like x value is about 12m not 1m. Then how should I change to get the right value of x ?

image description

Thank you

Asked by WB on 2015-09-14 01:24:21 UTC

You have to fix/adjust/calibrate your robot that is providing these values.

Asked by dornhege on 2015-09-14 07:21:22 UTC

Thanks Dornhege, I fixed odom.

Asked by WB on 2015-09-17 03:26:26 UTC