Calibrating turtlebot odometry without gyro/imu

asked 2011-08-10 01:32:30 -0600

Marco
75 ●9 ●10 ●17

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 calibrate.py a bit and do not see an easy way of removing the imu dependency..

answered 2011-08-10 07:45:54 -0600

mmwise

8372 ●45 ●74 ●99 http://www.meloneewise.com/

updated 2011-08-10 10:14:05 -0600

This is a good point.. I have created a ticket (https://kforge.ros.org/turtlebot/trac/ticket/52) 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 ( 2011-08-15 01:39:08 -0600 )edit

Any progress on this?

Marco ( 2011-09-07 18:57:53 -0600 )edit

Sorry Marco, I haven't had time, but I will make time this weekend.

mmwise ( 2011-09-08 07:49:33 -0600 )edit

Great, thx! I'll check back next week.

Marco ( 2011-09-08 19:17:35 -0600 )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 ( 2011-09-11 20:24:00 -0600 )edit

released in diamondback and electric! turtlebot_apps 0.1.14 and 0.2.1

mmwise ( 2011-09-24 11:02:38 -0600 )edit

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