libgazebo_ros_diff_controller odometry noise
Hi! I'm trying to simulate robot model in gazebo to test some ROS logic. I have created URDF file with robot description, using libgazebo_ros_diff_controller.so But my real robot sensor have odom accurancy 10^-5 m. And in Gazebo i have 10^-3 m. How can I reduce odometry noise? Here is the part of URDF description:
<plugin name="tessaract_controller" filename="libgazebo_ros_diff_drive.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometrySource>world</odometrySource>
<publishOdomTF>true</publishOdomTF>
<robotBaseFrame>base_link</robotBaseFrame>
<publishWheelTF>false</publishWheelTF>
<publishTf>true</publishTf>
<publishWheelJointState>true</publishWheelJointState>
<legacyMode>false</legacyMode>
<updateRate>30</updateRate>
<leftJoint>left_front_wheel_joint</leftJoint>
<rightJoint>right_front_wheel_joint</rightJoint>
<wheelSeparation>0.3</wheelSeparation>
<wheelDiameter>0.2</wheelDiameter>
<wheelAcceleration>1</wheelAcceleration>
<wheelTorque>10</wheelTorque>
<rosDebugLevel>na</rosDebugLevel>
</plugin>
Your robot has odometry with an accuracy of 10^-5m? What robot are you using? Because that's too good for odometry. Something seems wrong