Turtlebot orientation not changing

asked 2017-11-20 06:35:48 -0500

Mitch gravatar image

Hello everyone,

We're currently working with a Turtlebot2. The problem we have at the moment is that when we turn our Turtlebot in any way (Keyop, autonomous driving, actually turning it ourself by brute force) it wont change it's orientation in the odom or imu data.

What this means is that if we try to map, it wont recognize as having done a 360 turn so it will infinitely do that. Also when using rviz we can see that it not turn around. It is as if the world is turning around the robot itself and not the actual robot turning around.

I'm guessing it is something wrong with the gyro sensor but since we're using a kobuki base so we cannot recalibrate it using this and I also tried checking the firmware as proposed in this but ours is already beyond 1.1.4 (1.2.0 atm)

As said we're using a kobuki base, using kinetic as ros distro and running on Ubuntu 16.04.

This is a picture of our robot monitor as well showing that everything is working:

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