Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Segway RMP delocalizes

asked 2015-02-19 19:11:24 -0500

Pototo
803 ●51 ●59 ●67

Hi Folks,

I have a segway 50 XL as my robot's platform. When the robot goes backwards/forwards, it localizes quick and well. But when the robot is turning in place, it quickly de-localizes, causing the robot to move in the wrong direction when ROS tells it to go on a a straight line. I am using the segway_rmp packages, and the libsegwayrmp. I have not modified anything on any library, but I guess I need to in order to fix the problem. Maybe I need to find a better "magic number" for the base width (I'm assuming you have a base with parameter for the odometry)??? (modifying the based with on another platform helped me solve the problem)

Thanks

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2015-02-22 13:48:44 -0500

paulbovbel

4518 ●12 ●49 ●80 http://www.bovbel.com/

updated 2015-02-22 16:14:48 -0500

See https://github.com/asisbot/libsegwayr... . There's clearly some inconsistencies based on the firmware version and the RMP model.

You maybe have to tweak those parameters yourself and build from source, although it would be nicer if they were exposed to rosparam.

A good way to tune odometry is using a sensor like a LIDAR or Kinect. Set the persistence of the data in rviz, and tweak your wheel_base and wheel_width parameters until you have good agreement between subsequent scans overlaid in the odom frame.

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2015-02-19 19:11:24 -0500

Seen: 153 times

Last updated: Feb 22 '15

Segway RMP delocalizes edit

1 Answer

Question Tools

Stats

Related questions

Segway RMP delocalizes