Ask Your Question
0

TurtleBot -- Bad Gyro Calibration

asked 2011-08-30 03:17:33 -0500

Aroarus gravatar image

updated 2011-09-02 10:17:38 -0500

mmwise gravatar image

I have been running the SLAM map building tutorial with the turtlebot and I have been having a problem where the turtlebot image in Rviz does not rotate nearly as much as the actual real life turtlebot. This causes the map that is being created to be completely wrong, as the turtlebot is not putting the data it finds in the right place on the map. I have run the gyro and odometer calibration and have set the rosparams to the proper values. I am also getting an error in Rviz under the robot model:

rear_wheel_link No transform from [rear_wheel_link] to [/map]

and a warning under the path (path) and pose array (pose array) that says "no messages received"

as a further error, my turtlebot dashboard diagnostics is giving me an error:

Full name: /Sensors/Gyro Sensor Component: Gyro Sensor Hardware ID:

Level: Error Message: Bad Gyro Calibration

Gyro Enabled: True Raw Gyro Rate: 5 Calibration Offset: 5 Calibration Buffer: [5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5 ... (more)

edit retag flag offensive close merge delete

3 Answers

Sort by ยป oldest newest most voted
1

answered 2011-08-30 09:30:59 -0500

mmwise gravatar image

updated 2011-08-30 09:34:28 -0500

To debug this you're going to need to disassemble your TurtleBot. You'll need a DMM as well.

Remove the platters from your TurtleBot so that you can get at the TurtleBot power board. Put your DMM in DC voltage mode and touch pins 8 and 14 with the DMM probes and to read the voltage. The voltage should be 5V.

  • If the voltage is not 5V this is most likely a problem with your irobot create base.
  • If it is 5V this is most likely a problem with your power board.

Top down view of the power board header pins:

image description

edit flag offensive delete link more
1

answered 2011-08-30 03:32:10 -0500

tfoote gravatar image

The rear_wheel_link warning is due to that link being unactuated and free floating it cannot be rendered due to lack of information.

The warning about the path is because a planning path has not been sent yet. And when running SLAM gmapping doesn't publish the pose_array like amcl does.

The "Bad Gyro Calibration" is your problem. Can you cut and paste the entire error from the dashboard for that error, and edit your question to include it?

edit flag offensive delete link more

Comments

I updated it!
Aroarus gravatar image Aroarus  ( 2011-08-30 04:26:43 -0500 )edit
Power cycle the create.. sometimes it powers on funny. Also if you got your TurtleBot from WG can you tell me the serial number on your power board so I can look at the qualification test results.
mmwise gravatar image mmwise  ( 2011-08-30 06:55:52 -0500 )edit
I tried power cycling the create, and that did not fix the problem. I got the turtlebot kit from ClearPath Robotics and assembled it myself. I cannot get to the power board without disassembling the entire thing. It is a standard self-built turtlebot from the ClearPath kit though.
Aroarus gravatar image Aroarus  ( 2011-08-30 08:24:57 -0500 )edit
1

answered 2011-08-31 05:47:01 -0500

Aroarus gravatar image

I took it apart and ran those tests and it was generating 5V just fine in both the serial port directly and the power board. Upon putting it all back together, it worked! Perhaps the power board had just become a little unseated. Either way, problem solved!

edit flag offensive delete link more

Comments

Hi Aroarus, after you reassembled everything and the problem went away, what was your raw gyro value? Thanks, -Scott
Scott gravatar image Scott  ( 2011-09-07 07:57:16 -0500 )edit
the raw gyro value of a functioning TurtleBot while not moving should be between 425-575
mmwise gravatar image mmwise  ( 2011-09-07 09:59:02 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2011-08-30 03:17:33 -0500

Seen: 946 times

Last updated: Sep 02 '11