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Odometry error in translation [closed]

asked 2015-09-11 05:08:22 -0500

WB gravatar image

updated 2015-09-11 05:10:57 -0500

Dear all,

I am currently using my holonomic robot and laser sensor to build a map with slam_gmapping. Howerver the map quality is poor. Then I found out something wrong with odometry by following this tuning tutorial to test odometry.

When I performed rotation, setting decay time of laser scan is 20, then scan data showed good result. However, when I put robot 90 cm away of wall, then moves robot toward to the wall, the scan data looked strange like this.

image description

So what could be problem with my odometry and any solution ?

Thank you all!

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Closed for the following reason the question is answered, right answer was accepted by WB
close date 2015-09-17 03:27:15.104959

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answered 2015-09-11 05:42:46 -0500

dornhege gravatar image

It seems that your translation in odometry is incorrect. You can just check, by displaying the /odom /base_link transform and driving, e.g., 1m ahead. The transform should have moved 1m. If not, fix your odometry.

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Thanks Dornhege!

So this is the result of (rosrun tf tf_echo /odom /base_link) when I move robot forward 1 metre in real. Seems like x value is about 12m not 1m. Then how should I change to get the right value of x ?

image description

Thank you

WB gravatar image WB  ( 2015-09-14 01:24:21 -0500 )edit

You have to fix/adjust/calibrate your robot that is providing these values.

dornhege gravatar image dornhege  ( 2015-09-14 07:21:22 -0500 )edit

Thanks Dornhege, I fixed odom.

WB gravatar image WB  ( 2015-09-17 03:26:26 -0500 )edit

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Asked: 2015-09-11 05:08:22 -0500

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Last updated: Sep 11 '15