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Different values shown in cmd_vel and odom velocity.

asked 2019-11-30 17:39:09 -0500

akshayantony gravatar image

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.

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answered 2019-12-01 21:06:02 -0500

billy gravatar image

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.

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

akshayantony gravatar image akshayantony  ( 2019-12-02 07:22:55 -0500 )edit

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.

billy gravatar image billy  ( 2019-12-02 09:53:13 -0500 )edit

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Asked: 2019-11-30 17:39:09 -0500

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Last updated: Dec 01 '19