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Odometry - 4ws quasiomnidirectional - Trigonometry - Strange behaviour

asked 2020-02-01 14:15:25 -0500

Dragonslayer
574 ●18 ●78 ●33

updated 2022-01-22 16:10:18 -0500

Evgeny
26 ●6

Hi, Iam trying to make odometry work on a four wheel steering quasiomnidirectional base. Its losely based on pr2 trigonometry. The Problem that I encounter is that everything works except Angular_Z without any Linear_X or _Y. In that case the odometry frame twists opposite to reality. I also tried another approach (different math) but the same strange result. Anybody else encountered something like this before? Any suggestions how to solve this?

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answered 2020-02-02 11:28:29 -0500

Dragonslayer
574 ●18 ●78 ●33

updated 2020-02-02 11:33:01 -0500

Problem solved. It was my "smart" base-controller that was the issue.

EDIT: More exact, I had it decide to invert linear(wheel) if the desired steerangle was bigger then PI/2 and adjust the steeringangle accordingly. This worked with other poses because all the wheels made this move but in the case of twist only 2 out of 4 wheels made this move. I think it might have been the covariance matrix that somehow saw this as an error and started mixing things up. Will ask that question in another post.

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EDIT: It wasnt the "smart" base-controller. ANSWER see: https://answers.ros.org/question/3431...

Dragonslayer ( 2020-02-05 16:51:10 -0500 )edit

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Asked: 2020-02-01 14:15:25 -0500

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Last updated: Feb 02 '20

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