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It is not required to set these calibration parameters, but you can use them to refine accuracy of the odometry if you want. If you leave them unset in ROS then the robot has internal defaults that will be appropriate for that type of robot. An alternative way to set these values is using the firmware configuration tool which also includes with it files with parameter defaults. (If your robot is a newer P3DX-SH then the firmware is ARCOS, config tool is ARCOScf, and parameter file is p3dx.rop, where ). There is no fixed procedure for setting them other than adjusting them according to the apparent error of the motion of the robot. Ticks/MM is encoder ticks vs. forward movement, p3dx-sh default is 128. DriftFactor is horizontal error vs. forward motion, p3dx-sh default is 0 (no drift), RevCount default is 16570. The robot manual describes these and other parameters a little bit, you can also ask us at support@mobilerobots.com.
Note if you set them in ROS using dynamic_reconfigure or RosAria parameters, they are saved in the ROS parameter system and sent to the robot when you connect or change them, they persist for the connection and the robot forgets them upon disconnection, any new connection to the robot controller it will use what is configured in the controller firmware (but if you only use RosAria and no other software, you will always use the parameters you set in ROS.) If you set the parameters in the robot controller firmware, it will save those in the robot controller and use them for all future connections (except that RosAria will temporarily change them if they are set in ROS parameters.)
| | 2 | No.2 Revision |
It is not required to set these calibration parameters, but you can use them to refine accuracy of the odometry if you want. If you leave them unset in ROS then the robot has internal defaults that will be appropriate for that type of robot. An alternative way to set these values is using the firmware configuration tool which also includes with it files with parameter defaults. (If your robot is a newer P3DX-SH then the firmware is ARCOS, config tool is ARCOScf, and parameter file is p3dx.rop, where ). p3dx.rop). There is no fixed procedure for setting them other than adjusting them according to the apparent error of the motion of the robot. Ticks/MM is encoder ticks vs. forward movement, p3dx-sh default is 128. DriftFactor is horizontal error vs. forward motion, p3dx-sh default is 0 (no drift), RevCount default is 16570. The robot manual describes these and other parameters a little bit, you can also ask us at support@mobilerobots.com.
Note if you set them in ROS using dynamic_reconfigure or RosAria parameters, they are saved in the ROS parameter system and sent to the robot when you connect or change them, they persist for the connection and the robot forgets them upon disconnection, any new connection to the robot controller it will use what is configured in the controller firmware (but if you only use RosAria and no other software, you will always use the parameters you set in ROS.) If you set the parameters in the robot controller firmware, it will save those in the robot controller and use them for all future connections (except that RosAria will temporarily change them if they are set in ROS parameters.)
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