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With two wheels on each side, your robot's center of rotation will be unstable due to slippage, and even minor variations in your terrain will cause dramatic shifts. This means your odometry will drift further than under differential drive, making your other information sources even more important for localization - an IMU will go a long way towards mitigating the slippage.
You will have to adjust (increase) the (co)variance values in the odometry messages, as well as the proper parameters for nodes like AMCL that only read tf data.
| | 2 | No.2 Revision |
With two wheels on each side, your robot's center of rotation will be unstable due to slippage, and even minor variations in your terrain will cause dramatic shifts. This means your odometry will drift much further than under differential drive, making your other information sources even more important for localization - an IMU will go a long way towards mitigating the slippage.
You will have to adjust (increase) the (co)variance values in the odometry messages, as well as the proper parameters for nodes like AMCL that only read tf data.
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