How to tweak the Odometry accuracy in gazebo?

asked 2014-08-12 12:44:06 -0500

tadityasrinivas gravatar image

updated 2014-08-13 15:34:58 -0500

I am working with the turtlebot simulator. I have subscribed to the topic /Odometry to read the message on it. I compute the difference between the location in this message and the ground truth location of the robot. I subscribe to the /gazebo/model_states topic to obtain the ground truth location (the "mobile_base" component of the message).

This is the plot of the difference (2D euclidean distance) between the Odometry message and ground truth location: (the sample number increases linearly with time, so the x-axis is proportional to simulation time)

Odometry Accuracy (right click here and select "Open in new Tab" to view):

Are there parameters that can be tweaked to reduce this level of accuracy? The problem is that the odometry seems to be accurate within a few centimeters, which is unrealistic. This limits what we can study using the simulated model.

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Comments

did you try adding noise ?

bvbdort gravatar image bvbdort  ( 2014-08-13 15:50:54 -0500 )edit

Could you please describe how to?

tadityasrinivas gravatar image tadityasrinivas  ( 2014-08-13 16:10:36 -0500 )edit

generate gaussian noise with current odometry as mean and variance as you want. Check zero mean gaussion here https://github.com/ros-planning/navig... also for your case take a look at ftp://ftp.taygeta.com/pub/c/boxmuller.c

bvbdort gravatar image bvbdort  ( 2014-08-14 03:18:33 -0500 )edit