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A skid steer vehicle like the Husky skids when its turning i.e. the wheel slips momentarily. Unfortunately, the encoders do no capture this slippage. This means the wheel odometry will typically report more rotational motion than is actually achieved. To compensate for this slippage we suggest that you combine this data with IMU data which is much better at estimating heading. This can be done with something like robot_pose_ekf which you have clearly done.

As for the accuracy of the robot_pose_ekf output, I'd love to hear about what specific accuracy and precision you are achieving. What kind of results are you seeing?