libgazebo_ros_diff_controller odometry noise

asked 2019-04-23 04:41:03 -0600

EGOR gravatar image

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>
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