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Measuring the angular rate around the z-axis is performed using a single gydro on the Turtlebot, see Calibrate Odometry and Gyro replicating that setup seems like a straightforward approach. You can of course also use a 6 or 9 DOF IMU for the task and just use the z-axis gyro data, ignoring the other axes. Note that you´ll be able to reduce error due to slip, but noise in sensor data will always results in some odometry drift, so you´ll probably want to use AMCL or gmapping to get proper localization and/or mapping.

Measuring the angular rate around the z-axis is performed using a single gydro on the Turtlebot, see Calibrate Odometry and Gyro replicating . Replicating that setup seems like a straightforward approach. You can of course also use a 6 or 9 DOF IMU for the task and just use the z-axis gyro data, ignoring the other axes. Note that you´ll be able to reduce error due to slip, but noise in sensor data will always results in some odometry drift, so you´ll probably want to use AMCL or gmapping to get proper localization and/or mapping.