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There does appear to be a small amount of drift in the turtlebot at rest with it rotating slightly. After 200 seconds I see that it has a slight rotation (a few degrees) , but is pretty much in the same position. Is that what you're talking about? If so I'd suggest looking more at improving the contact stability than the friction. If you look at the contact points on the ground you'll see that there's a continuous oscillation between the wheels that can cause small numerical integration errors to accumulate.

image description

example odom ``` header: seq: 20117 stamp: secs: 201 nsecs: 190000000 frame_id: "odom" child_frame_id: "base_footprint" pose: pose: position: x: 1.59948835343e-07 y: 6.79624858795e-07 z: 0.0 orientation: x: 0.0 y: 0.0 z: -0.0384809462098 w: 0.999259334096 covariance: [0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05] twist: twist: linear: x: 6.49424452091e-06 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: -0.000414815298426

covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

```

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No.2 Revision

There does appear to be a small amount of drift in the turtlebot at rest with it rotating slightly. After 200 seconds I see that it has a slight rotation (a few degrees) , but is pretty much in the same position. Is that what you're talking about? If so I'd suggest looking more at improving the contact stability than the friction. If you look at the contact points on the ground you'll see that there's a continuous oscillation between the wheels that can cause small numerical integration errors to accumulate.

image description

example odom ``` odom

header: 
  seq: 20117
  stamp: 
    secs: 201
    nsecs: 190000000
  frame_id: "odom"
child_frame_id: "base_footprint"
pose: 
  pose: 
    position: 
      x: 1.59948835343e-07
      y: 6.79624858795e-07
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -0.0384809462098
      w: 0.999259334096
  covariance: [0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05]
twist: 
  twist: 
    linear: 
      x: 6.49424452091e-06
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: -0.000414815298426

-0.000414815298426 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

```

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