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Note that the odom topic contains the pose of the turtlebot in the /odom frame. This pose will drift relative to the ground truth pose as the turtlebot drive around. This is due to a variety of factors such as error in the kinematic model and wheel slippage. Due to this drift, if you are trying to control your turtlebot to a fixed location in a static environment (such as a room), the odom topic is not enough.

Are you using a map? If so, you are also likely using AMCL to "localize" your robot. In this case, you should be either transforming the pose information in the odom topic into the /map frame, or you should be looking up the transform from the /map frame to the /base frame.

Note that the odom topic contains the pose of the turtlebot in the /odom frame. This pose will drift relative to the ground truth pose as the turtlebot drive drives around. This is due to a variety of factors such as error in the kinematic model and wheel slippage. Due to this drift, if you are trying to control your turtlebot to a fixed location in a static environment (such as a room), the odom topic is not enough.

Are you using a map? If so, you are also likely using AMCL to "localize" your robot. In this case, you should be either transforming the pose information in the odom topic into the /map frame, or you should be looking up the transform from the /map frame to the /base frame.