Revision history [back]

so hi again,

After trying to understand how odometry works and also going through many suggested solutions to improve wheel odometry on various forums, like the one from Sr. Robotics Engineer Achille Verheye in his excellent and detailed article [www.freedomrobotics.com/blog/tuning-odometry-for-wheeled-robots]: “Deploying on Mars : rock solid odometry for wheeled robots", i decided that the appropriate way for my case would be to perform the tuning of some ROS parameters as suggested on Turtlebot Navigation Tuning Guide [ https://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide ], including robot acceleration, recovery behavior, goal tolerance parameters, the simulation time and above all the inflation radius and the cost scalling factor. The Results were 90% of the time satisfying and i could run the Tests i wanted to.