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Calibrating turtlebot odometry without gyro/imu

asked 2011-08-10 01:32:30 -0500

Marco gravatar image

I am using the turtlebot stack to control my Irobot Create + Kinect, but currently do not have a gyro. However, I would like to calibrate the odometry from the Icreate encoders. The turtlebot calibrate routine however requires an imu present: I keep getting the error "Still waiting for imu" when trying to run the calibration routine.

Does anyone know a way to calibrate the Irobot Create odometry without needing the imu present? I've looked into the code of a bit and do not see an easy way of removing the imu dependency..

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answered 2011-08-10 07:45:54 -0500

mmwise gravatar image

updated 2011-08-10 10:14:05 -0500

This is a good point.. I have created a ticket ( to make this possible. In the future it will check the has_gyro param. I'll try and get to it this week.

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Great! I hope you'll be able to fix this.
Marco gravatar image Marco  ( 2011-08-15 01:39:08 -0500 )edit
Any progress on this?
Marco gravatar image Marco  ( 2011-09-07 18:57:53 -0500 )edit
Sorry Marco, I haven't had time, but I will make time this weekend.
mmwise gravatar image mmwise  ( 2011-09-08 07:49:33 -0500 )edit
Great, thx! I'll check back next week.
Marco gravatar image Marco  ( 2011-09-08 19:17:35 -0500 )edit
worked on it this weekend, I think I have a working solution I still need to test it before I push it out but I hope to have it out in the next stable release
mmwise gravatar image mmwise  ( 2011-09-11 20:24:00 -0500 )edit
released in diamondback and electric! turtlebot_apps 0.1.14 and 0.2.1
mmwise gravatar image mmwise  ( 2011-09-24 11:02:38 -0500 )edit

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Asked: 2011-08-10 01:32:30 -0500

Seen: 889 times

Last updated: Aug 10 '11