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wheel encoders values

asked 2015-09-18 02:58:31 -0500

mrobo gravatar image

I am working on P3DX. i want to find wheel encoder values from p2os_driver library. In the p2os library, i m directly getting x, y and theta from buffer. Pls. Suggest.

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Please be more specific. Mention what all have you tried, what exactly is not working and what is the exact issue you are facing. Then, people will be able to help better.

Naman gravatar image Naman  ( 2015-09-18 09:08:58 -0500 )edit

My goal is to find dead-reckoning error in wheel odometry. I found the systematic and non-systematic error. I just need raw wheel encoder values to recalculate the pose as per the errors found as above. Or i need the source code for finding pose in ROSARIA or P2OS

mrobo gravatar image mrobo  ( 2015-09-21 14:24:36 -0500 )edit

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answered 2015-09-18 20:46:50 -0500

allenh1 gravatar image

updated 2015-09-26 12:46:37 -0500

Wheel encoder values are not published by P2OS, or by ROSARIA. The encoders are used to calculate odometry, however. I invite you to dig through the source code, specifically https://github.com/allenh1/p2os/blob/...

Edit: Sorry! I linked the wrong file. It has now been updated above. Look at the very bottom of this one, and you will see some relevant information.

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what does kinecalc do? why is it showing links in the code? is it for mobile robot only? Pls help

mrobo gravatar image mrobo  ( 2015-09-21 14:27:03 -0500 )edit

kinecalc is what calculates the odometry transformation in relevant coordinate frames.

allenh1 gravatar image allenh1  ( 2015-09-24 20:51:44 -0500 )edit

http://robots.mobilerobots.com/Aria/d... is the ARIA library and it has command like "ArRobot::getLeftEncoder(void). But, i am not sure how to implement this command on p3dx. Any help or suggestion would be appreciated

mrobo gravatar image mrobo  ( 2015-09-25 03:50:59 -0500 )edit

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Asked: 2015-09-18 02:58:31 -0500

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Last updated: Sep 26 '15