Turtlebot2's amcl_pose seems very inaccurate. [closed]
Hi All,
EDIT: I was in the process of debugging and the issue looks like it's with another package, which might be causing a namespace issue. I will CLOSE this question and may reopen it when I have confirmed the fault. Thanks for the response!
I'm using two turtlebot 2s running the navigation "stack" with Asus Xtion Pros. I have them setup in such a way that they report each other's poses and euclidean distance. In Stage simulation the setup to report the pose and distance works perfectly. The problem is in the physical environment. When I have both robots not moving, if I send a pose via. rviz the initial pose is definitely wrong for one of the robots and the euclidean distance is 0, but I have it setup so that it's exactly 1.0 meter. Initially I thought that I'm accidentally sending the incorrect pose, but that wasn't the case. After moving the robots for a bit around my room (manually pushing the robot gently or sending poses via. rviz) the distance and coordinates are sometimes correct and what happens is that it looks like the robots are jumping a meter away from each other. In rviz the visualisation of the robots in the map is correct, so they are definitely not jumping in rviz. This seems to be just the amcl pose and the recording of the poses. The starting positions are; robot_3 (8.0, 10.2) robot_2 (9.0, 10.2)
This is the rostopic echo of robot_2s amcl_pose:
header:
seq: 97
stamp:
secs: 1558102491
nsecs: 609194510
frame_id: "map"
pose:
pose:
position:
x: 7.50020667489
y: 10.2058192998
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.868860558222
w: 0.49505689609
covariance: [0.0027753004271033888, -0.0002187134911650901, 0.0, 0.0, 0.0, 0.0, -0.0002187134911650901, 0.002547011646029773, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.006567755347706835]
---
header:
seq: 98
stamp:
secs: 1558102687
nsecs: 446241848
frame_id: "map"
pose:
pose:
position:
x: 9.26511646316
y: 10.282304021
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0354847648417
w: 0.999370217419
covariance: [0.0038621032430512514, 0.0008479115831505624, 0.0, 0.0, 0.0, 0.0, 0.0008479115831505624, 0.0027627175791451464, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.008293966802305777]
In reality the above robot was pushed (manually) no more than ~0.1-0.2 meters. Another example using my specific code for recording pose ...
How far is the
/odom
frame from the/map
frame?