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Different values shown in cmd_vel and odom velocity.

in the navigation of diffrential wheeled robot,the command velocity contains only linear x and angular z ,but the odom shows linear x and linear y and angular z.Is this the reason why robot is not following the planned path.

Asked by akshayantony on 2019-11-30 18:39:09 UTC

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Answers

ODOM messages contain 2 different sets of data.

The first is the robot POSE in the ODOM frame. This can contain non-zero Y as part of the pose(location of the robot).

The second part is the TWIST message that shows movement. It should not have a non-zero Y for differential drive. For a holonomic robot having non-zero Y would be expected.

Asked by billy on 2019-12-01 22:06:02 UTC

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the second part is having a y component ,what is the error in it

Asked by akshayantony on 2019-12-02 08:22:55 UTC

Then to answer your original question, it's possible that's why robot isn't following path. Sounds like there is an error in the odom generation.

Asked by billy on 2019-12-02 10:53:13 UTC