| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
Hi,
I am currently using turtlebot kobuki base with hydro on ubuntu 12.04. With reference to this question, would like to ask where can i edit the has_gyro parameter?
Another question, can I just use robot_pose_ekf to subcribe to my new imu data and do the gmapping using the odom_combined?
Thanks
Regarding your first question, Kobuki has a built-in gyro. The gryo is used to determine the robot's rotation, since it is much more reliable then using the wheels' encoder output difference.
If you like to disable the usage of the gyro for odometry, set the use_imu_heading to false in kobuki_node/param/base.yaml ( https://github.com/yujinrobot/kobuki/... ).
And regarding your second question, yes, you can use robot_pose_ekf to use the data from your extra gyro for gmapping. Just make sure your remap the topics accordingly.
The Create 1 did not have a gyro built in. So the TurtleBot kit was sold with an external gyro. With this set-up you would need to fuse the odometry data from the Create base with the gyro data using tools like robot_pose_ekf. Don't know what the new Create 2 comes with ...
The Kobuki base should have the gyro built in, and it should be enabled by default in the launch files. I suspect they're already doing all of these things in the default launch files.
Is there a reason why you think the IMU is not enabled or the EKF is not running?
as i am currently trying to build a map of a library which is quite big (about 50 x 100m i estimate) with the similar shelves placed nicely across. however, i am not able to get a nice map using gmapping. so, i guess either i need to improve either my hokuyo laser (10m range) or install a better imu?
i tried the hector_slam and it turned out not as good. am now using robot_pose_ekf to publish base_footprint, should make the odometry better. just found useful information here http://answers.ros.org/question/92131/imu-sensor/, should be helpful. thanks alot :)
Asked: 2014-03-03 21:22:20 -0500
Seen: 2,004 times
Last updated: Mar 05 '14
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
