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How to calculate odom.twist.angular value

asked 2015-05-03 12:45:02 -0600

nouf gravatar image


I'v made my own odometry code and I succeed with determining the robot's position correctly.

But I need to know how to calculate the angular velocity?

What I did is I divided delta theta by delta time, but the results doesn't seem to be correct.

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Could you give detail about your robot?

gokhan.acer gravatar image gokhan.acer  ( 2021-09-15 05:35:33 -0600 )edit

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answered 2021-09-15 05:35:12 -0600

gokhan.acer gravatar image

Angular velocity can be calculated using IMU. If you don't want to use it, you can use kinematic equations to calculate it. It depends on your robot's model (differential robots, Ackerman, etc.). For example: Differential kinematics

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Asked: 2015-05-03 12:45:02 -0600

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Last updated: Sep 15 '21