Turtlebot, odom and a wall
Hi !
When simulating a turtlebot with Gazebo, while slam_gmapping is running and using teleop, I noticed that when making the robot moving against a wall, odom somehow "knows" that the robot is in deed NOT moving. As a result, the map displayed on rviz (with view_navigation.launch) stays correct.
I'd like to reproduce this behaviour, but I don't understand what allows this in the turtlebot. Is that something handled in the kobuki_gazebo_plugins (more specifically in function updateOdom() ) ? https://github.com/yujinrobot/kobuki_...