How to fix Odometry for Base Navigation

asked 2020-01-16 18:11:21 -0600

Otaku gravatar image

I am performing base navigation using the Fetch robot. I see that the robot is not able to reach the goal pose accurately. There is a difference of x:~0.23 and y:~0.05

I went through the Navigation tuning guide here: http://wiki.ros.org/navigation/Tutori... and on performing the rotational odometry test described in section 1.2, I notice the laser scans drift by a large margin.

Rotation Scan image : https://imgur.com/V8iklrA

This question https://answers.ros.org/question/2260... seemed to be facing the same problem as me so I checked if my robot wheels have extra contacts too and they do.

Wheel Contacts image: https://imgur.com/LoFU5Da

The fetch urdf doesn't have a wheel_width parameter defined so I tried to open the wheel's .STL files in blender and reducing it's width but that didn't work. The wheel ended up going inside the robot on movement (not sure if I did this correctly) I also tried playing with the http://wiki.ros.org/base_local_planner parameters but that didn't help too.

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