acceptable % of odometry error of autonomy_create

edit

Hi All,

I am very new into understanding a lot of concepts in ROS, so far I have successfully ran autonomy_create software package and used a simple keyboard_node to drive my create2 robot.

So far this is what I have done. My linear velocity is 0.2 to drive create2 forward in typical square tile carpeted floor. When I subscribe to topic \odom, the initial value is as follows:

 pose: 
x: 0.000963
y: 0
z: 0
orientation:
x: 0
y: 0
z: 0
w: 1

I moved 1m forward and see if I can get 1meter value in my odom pose

 pose: 
x: 1.27661
y: -0.074605
z: 0
orientation:
x: 0
y: 0
z: -0.070646
w: 0.997501

I moved 1m forward again

    pose:  
x: 2.192413 
y: -0.298672 
z: 0
    orientation: 
x: 0 
y: 0 
z: -0.138908 
w: 0.990305

Based on simple calculation, 19cm is around 10% difference in 2m expected and even y position have some change in value.Currently, I got to know that odometry from wheel encoders alone is erroneous in nature that is why more complex processing is needed (EKF etc.,) now, I would like to know if this 10% error in odometry of autonomy_create that is acceptable to be as input in other package like robot_localization, AMCL etc?

I hope I could learn from you guys. Thanks in advance!