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Odometry isn't reasonable for rotational motion

asked 2016-02-08 09:21:58 -0500

Orhan gravatar image

updated 2021-04-07 15:10:48 -0500

The thing is; following screenshot is from simulation, on Gazebo. (And Real robot does this too.) ekf_localization_node uses both of imu and odometry. And using only odometry causes this problem too.

I'm following this guide to tune my robot : ROS Wiki Navigation Tuning Guide I've set Decay Time to 30 and started inplace rotation.

Here is Rviz screenshot: Rviz

Odometry isn't reasonable for rotational motion.

Robot's translational motion is good and reasonable. But the rotational motion is bad for localization. What can I do for correcting odometry data? Or Are there any new issues on ekf_localization?

Thank you.

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answered 2016-02-09 03:27:48 -0500

Orhan gravatar image

updated 2021-04-07 15:10:04 -0500

Ok, The problem was wheel_width parameter in the urdf. It was 0.05 and It caused two contacts under wheel: image description

I've set to 0.001 and problem solved, now odometry looks pretty good.

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answered 2016-02-09 01:30:31 -0500

Procópio gravatar image

for a real robot, I would say what causes this is a wrong wheel size and wheels distance (assuming a diff drive robot), but as the same happens in simulation, I am not sure about the reason.

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Asked: 2016-02-08 09:21:58 -0500

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Last updated: Apr 07 '21