Editing gyro_measurement_range in CREATE Turtlebot?

asked 2015-10-26 21:45:06 -0500

Loneflyer gravatar image

After several problems with the CREATE base gyro, I decided to use a SpartonCompassIMU (AHRS-8) for gmapping and pose estimation. I am using a ROS driver available from github. The driver is perfectly fine, and publishes data to /imu/data. I remapped the topics in the minimal, gmapping and calibration launch files and using rosgraph and rosnode/rostopic info, I can conclude that robot_pose_ekf is using the imu/data from SpartonCompassIMU. However, the mapping is still off and the rotational motions are still inaccurate.

I have tried changing the mapping parameters as well, done the laser scan checks in RViz. Not much there. I realized later that for calibration, the gyro_measurement_range is still set to 250 (from the old inactive gyro). I have tried changing that in the config files, but it doesn't seem to be helping much. From the pdf manuals, SpartonCompassIMU, the gyro_measurement_range seems to be 480deg/s.

What am I missing? Where should I be changing the parameter?

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Also, using rosparam set doesn't change the value, since it isn't dynamically reconfiguring the bot.

Loneflyer gravatar image Loneflyer  ( 2015-10-26 21:54:30 -0500 )edit