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Turtlebot doesn't walk in a straight line

asked 2015-03-07 10:56:48 -0500

Leejamin gravatar image

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.

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Do you use kobuki or create?

jihoonl gravatar image jihoonl  ( 2015-03-09 19:12:59 -0500 )edit

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

Loneflyer gravatar image Loneflyer  ( 2015-10-20 22:37:10 -0500 )edit

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answered 2015-03-09 13:26:20 -0500

Mark Silliman gravatar image

updated 2015-03-09 13:59:07 -0500

First calibrate it to fix major problems:

http://wiki.ros.org/turtlebot_calibra...

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...

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

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Asked: 2015-03-07 10:56:48 -0500

Seen: 773 times

Last updated: Mar 09 '15