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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.
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.
Asked: 2015-03-07 10:56:48 -0600
Seen: 1,293 times
Last updated: Mar 09 '15
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Do you use kobuki or create?
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