Does pose estimation corrects the accumalated odometry errors?
What is meant by pose estimation and how it is related to odometry or odometry error in case. Thank you.
Asked by malgudi on 2018-10-26 00:04:47 UTC
What is meant by pose estimation and how it is related to odometry or odometry error in case. Thank you.
Asked by malgudi on 2018-10-26 00:04:47 UTC
Comments
A pose estimation sensor may provide information about the absolute or relative position and orientation of a robot. These sensors include gyroscopes, magnetometers, accelerometers, satellite navigation systems, which are often packaged together as a single hardware device with an internal state est
Asked by chrissunny94 on 2018-10-26 00:07:47 UTC
Hi thanks for your reply. Could you look at this question? is it happening due to pose estimation error or odometry error and how to confirm it? https://answers.ros.org/question/306389/how-to-check-if-there-is-problem-in-odometry/
Asked by malgudi on 2018-10-26 00:24:51 UTC
What robot are you using ?
Asked by chrissunny94 on 2018-10-26 00:29:14 UTC
Try using robot_localization along with IMU and Odometry coming from wheel encoders to get a better pose_estimate .
Feed the output of the robot_localization as the input topic for Gmapping/AMCL .
If you have a 360deg lidar , try using hector_slam , it outputs odometry .
Asked by chrissunny94 on 2018-10-26 00:31:22 UTC
It's a two wheel differenital drive mobile robot, differential drive + wheels rotates from 0 to 180degree. It means, it can slide horizontally left and right side.
Asked by malgudi on 2018-10-26 00:33:30 UTC