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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.
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.
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.
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.
No idea, I'm not a turtlebot user. I'm just your friendly neighborhood IMU user.
Asked: 2019-12-05 07:02:25 -0500
Seen: 494 times
Last updated: Dec 10 '19
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