odometry test from The Navigation Tuning guide

asked 2019-12-12 04:24:17 -0500

june2473 gravatar image

Hello! I am running some modificated turtlebot3 waffle and I am trying to state, is this my odometry good or not.

I am following Basic Navigation Tuning Guide?).

I am doing odometry checks from there.

Here is what I got for the first check: https://yadi.sk/i/wpguCnu1XGsnuQ

for the second check: https://yadi.sk/d/TIocSl61LLW-cg

about the first check, scans does not fall on top of each other, and error is quite big, right?

Is this sufficient angular error? What should I do to reduce error?

about the second check, the same question, is that wall too thick?

What I can do with my odometry? Is this so awful?

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