Turtlebot doesn't walk in a straight line

There may be something wrong with one of the wheels of my TurtleBot. And it sometimes doesn't walk in a straight line but sometimes does. Are there any algorithms or nodes to monitor the topic which publishes the Twist message and the IMU data to make the TurtleBot walk matching the Twist message? Please help me.

Asked by Leejamin on 2015-03-07 11:56:48 UTC

Comments

Do you use kobuki or create?

Asked by jihoonl on 2015-03-09 19:12:59 UTC

create. I have calibrated multiple times as well, converging to stable values for correction factors. Still it drifts away towards the left when I command it to move straight

Asked by Loneflyer on 2015-10-20 22:37:10 UTC

Answers

First calibrate it to fix major problems:

http://wiki.ros.org/turtlebot_calibration/Tutorials/Calibrate%20Odometry%20and%20Gyro

Traditionally you'd use MoveBaseGoal() instead of sending Twist messages. This will use AMCL to localize while moving forward allowing it to automatically "fix" some drifting etc.

Checkout some examples: http://learn.turtlebot.com/2015/02/01/13/

You can use "rostopic echo" to monitor everything TB is doing but I would consider this fairly intimidating when you're getting started.

Asked by Mark Silliman on 2015-03-09 13:26:20 UTC