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See https://github.com/asisbot/libsegwayrmp/pull/1. There's clearly some inconsistencies based on the firmware version and the RMP model.

You maybe have to tweak those parameters yourself and build from source, although it would be nicer if they were exposed to rosparam.

A good way to tune odometry is using an exteroceptive sensor like a LIDAR or Kinect. Set the persistence of the data in rviz, and tweak your wheel_base and wheel_width parameters until you have good agreement between subsequent scans overlaid in the odom frame.

See https://github.com/asisbot/libsegwayrmp/pull/1. There's clearly some inconsistencies based on the firmware version and the RMP model.

You maybe have to tweak those parameters yourself and build from source, although it would be nicer if they were exposed to rosparam.

A good way to tune odometry is using an exteroceptive a sensor like a LIDAR or Kinect. Set the persistence of the data in rviz, and tweak your wheel_base and wheel_width parameters until you have good agreement between subsequent scans overlaid in the odom frame.