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Adding or increasing odom drift in Gazebo

asked 2019-02-19 07:53:15 -0500

Ben12345 gravatar image

How does one add or increase odom drift in Gazebo?

We've found that the simulation doesn't really replicate the real world operation at all, due to odom drift.


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answered 2019-02-19 09:44:38 -0500

basb1 gravatar image

Depends on what you mean with drift. If it is from slip of a mecanum based robot, you could try to model all the rollers of the wheels and define friction coefficients to them. If it is from encoders, you could try to subscribe to the joint state topic and calculate your own odom based on the returned joint states velocity and add a noise in this process. Either way it is best to not use the ros plugin that handles only cmd_vel inputs and odom outputs if you want to create a model that simulates a certain kind of behavior.

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Gazebo seems to model the robot such that the odom recieved is pretty much lines up with cmd_vel issued. This is never the case in the real world. I'd like to add noise to the odom in simulation.

Ben12345 gravatar image Ben12345  ( 2019-02-19 11:47:23 -0500 )edit

You can inject noise or create your own gazebo plugin

stevemacenski gravatar image stevemacenski  ( 2019-02-20 14:57:21 -0500 )edit

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Asked: 2019-02-19 07:53:15 -0500

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Last updated: Feb 19 '19