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The Kinect is, in general, not great for mapping/localization due to low FOV and poor accuracy. How's the odometry on your platform? (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide#Odometry)

Because Husky is skid steer, you are going to have quite a bit of rotational slippage. The best way to compensate for that is by using an IMU along with a filter such as robot_pose_ekf or robot_localization.

You can also compensate for slippage by adjusting width between the Husky's wheels used to calculate odometry in the skid-steer model. If you're on Hydro, that parameter is here (https://github.com/husky/husky_base/blob/hydro-devel/nodes/basic_odom_publisher#L64). Spin your Husky using teleoperation, and then tune that parameter until your odometry /encoder topic returns is simlar. This is just a scaling factor, so it'll only normalize the errror, and only for a certain range of driving surfaces.

The Kinect is, in general, not great for mapping/localization due to low FOV and poor accuracy. How's the odometry on your platform? (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide#Odometry)

Because Husky is skid steer, you are going to have quite a bit of rotational slippage. The best way to compensate for that is by using an IMU along with a filter such as robot_pose_ekf or robot_localization.

You can also compensate for slippage by adjusting width between the Husky's wheels used to calculate odometry in the skid-steer model. If you're on Hydro, that parameter is here (https://github.com/husky/husky_base/blob/hydro-devel/nodes/basic_odom_publisher#L64). Spin your Husky using teleoperation, and then tune that parameter until your odometry /encoder topic returns agrees with how much the robot is simlar. actually rotating. This is just a applying scaling factor, so it'll only normalize the errror, error, and only for a certain range subset of driving surfaces.