Odometry frame divergence

asked 2015-06-22 05:56:10 -0600

panos gravatar image

updated 2015-06-22 05:56:45 -0600

Hi all,

I am using ROS and a turtlebot for my master thesis and I encounter a behaviour that I find strange.

I start using RVIZ and visualize the /odom frame and in the begining it works correctly. As I move my robot, the /odom frame diverges in the y axis. You can see the behaviour in this video at 38 seconds. Is this alignment a frame issue? Is it an IMU issue? What can I do to fix it? I do not know why the robot transforms to any other axis but z since it moves in a 2D manner, so I don't know where to search to fix this issue. Any feedback will be greatly appreciated.

Thank you in advance.

Panos.

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Comments

2

@panos it looks like even the tf data has rotation outside of z component. You can echo the tf data to confirm this, and then you can follow the data back wards until it doesn't have that problem anymore. It may also be possible that your ekf is introducing the rotation, but it didn't seem that way.

William gravatar image William  ( 2015-06-22 15:45:23 -0600 )edit