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Customizing Turtlebot3: opencr position

asked 2019-12-05 07:02:25 -0600

june2473 gravatar image

I am trying to customize turtlebot3. I moved opencr in other place on robot's base, not the center. Here is my questions:

1) Since imu is located on opencr, Does it have affect to odom data? Or does imu data have affect to odometry data?

2) If it does, which part of opencr code should I modificate to get odom data correct? I mean "/odom" topic.

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answered 2019-12-10 22:46:07 -0600

june2473 gravatar image

I have found that place in opencr code, where imu have affect to odometry.

I decided to move opencr as it was located by default, on the center between wheels, instead of changing code in opencr.

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answered 2019-12-05 08:51:11 -0600

ct2034 gravatar image

This depeds a lot on what slam / localization you use. Can you describe which software you call?

Assuming you use the turtlebot3 repo and your slam and localization is properly configured, you have to edit the imu_joint in this file.

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does slam/localization actually use /imu topic or imu_joint frame? I thought they only use /odom topic as numbers and odom frame

june2473 gravatar image june2473  ( 2019-12-05 12:09:29 -0600 )edit

I use rtabmap, as I know rtabmap does not read /imu topic, only /odom, right?

june2473 gravatar image june2473  ( 2019-12-05 23:35:51 -0600 )edit

answered 2019-12-05 10:46:51 -0600

It will change the value of angular velocities and accelerations, yes. However if you're just using the orientation output, that actually doesn't matter, especially if its just moved but in the same orientation, because of rigid body transformations.

A rotation of a part is a rotation of a whole. This doesn't hold true for the other values which are used in the IMU to calculate orientation if you use them externally.

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thanks for clarification, but anyway, can you show me exact file in turtlebot3 opencr code, where IMU data have affect to odom topic?

june2473 gravatar image june2473  ( 2019-12-05 12:21:51 -0600 )edit

No idea, I'm not a turtlebot user. I'm just your friendly neighborhood IMU user.

stevemacenski gravatar image stevemacenski  ( 2019-12-05 15:18:15 -0600 )edit

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Asked: 2019-12-05 07:02:25 -0600

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Last updated: Dec 10 '19