How to Adjust Turtlebots odometry manually ?
I would like to adjust the encoder information coming from my turtlebot so that it is accurate for building maps in gmapping, etc. Im trying to build a better robot base without having to reinvent the wheel, as I am very pleased with turtlebots performance over all. So basically I am fitting custom wheels(5X larger) and motors to a larger robot base but would still like to use the create with encoders and base sensors (create base still onboard the robot). I would add the creates encoders to the new shafts but instead of using gears to tune the create encoders to turtlebot specs I figured it would be easier to adjust the code. Is this possible manually , if so where should I start to play with the numbers? ,Turtlebot_node ..
self.odom_angular_scale_correction = rospy.get_param('~odom_angular_scale_correction', 1.0) self.odom_linear_scale_correction = rospy.get_param('~odom_linear_scale_correction', 1.0) ??
Also theoretically might turtlebot calibration work for this task aswell, along with some manual fine tuning of the code? I would like to understand this a bit better before breaking down the create base.. Thanks for viewing
I thought this might be a simple hardware hack to get bigger motors and wheels to carry larger payloads. I know the creates encoders might not be the most accurate but I have found them to be reliable for my needs. Maybe later I could try writing a new set of code to a new more advanced base.