turtlebot navigation hydro drifting orentation

asked 2014-05-04 17:53:42 -0500

zenifed
93 ●15 ●19 ●24

Hi I am currenting trying the autonomous navigation tutorial for turtlebot. I am having issue having it move to my goal location. While observing rviz, the turtlebot seems to have issue localizing itself properly. Even when the robot its at rest, rivz show that the turtlebot's orientation is slowly turning. Anyone have any ideas what might be causing this ?

Thanks

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Are you using create or kobuki?

jihoonl ( 2014-05-06 21:07:00 -0500 )edit

i am using kobuki.

zenifed ( 2014-05-06 21:32:46 -0500 )edit

Does odom topic drift?

jihoonl ( 2014-05-06 22:14:42 -0500 )edit

I am not sure.The drifting issue seem to have disappeared though after loading another map though.

zenifed ( 2014-05-06 22:32:53 -0500 )edit

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answered 2014-06-02 18:10:34 -0500

jorge

2284 ●40 ●71 ●78 https://github.com/corot

Kobuki gyro is factory calibrated, so no need to re-calibrate again. The problem you report is a particularity of the installed gyro that hapen rarely. It's fixed on firmware version 1.1.4, so check your robot firmware version

rostopic echo /mobile_base/version_info

And update it if it's older. Here's the how to.

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We observed the same problem. As a quick fix: Shutting down the drivers and turning the robot off and on solved that. (So, yes, we tried turning it off and on again!)

dornhege ( 2014-06-11 05:47:52 -0500 )edit

Clearly is the gyro. Update the firmware will solve it so you don't need to switch off/on nevermore.

jorge ( 2014-06-11 07:21:39 -0500 )edit

Thanks, we'll do that. I can confirm that it was the gyro. We've seen it directly in the diagnostics.

dornhege ( 2014-06-11 07:32:10 -0500 )edit

hi sorry for the late response. That seems to be the source of the problem, have updated the robot. Thanks

zenifed ( 2014-06-15 21:27:02 -0500 )edit

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answered 2014-05-04 20:29:26 -0500

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

Rotating when the robot is at rest sounds like the gyro is not calibrated correctly. If you have not already, you should follow these instructions for calibrating the gyro.

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hmm i am using the kobuki base, is it still necessary? The drifting issue seem to have disappeared though after loading another map. Perhaps the initial map i was using was not generated properly?

zenifed ( 2014-05-06 21:37:12 -0500 )edit

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turtlebot navigation hydro drifting orentation

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