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1 | initial version |
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.
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
```
2 | 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.
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] ```
0.0]
---