Turtle Bot 2 with Kobuki: Odometry doesn’t get fully captured

asked 2020-02-27 17:13:22 -0600

Marnett5 gravatar image

updated 2020-02-27 18:03:06 -0600

Hello,

I am currently having issues with my Turtle Bot 2 not capturing all of the odometry data. I am currently running a Thinkpad t430 with the TB2 along with Ubuntu 16.04 and ROS Kinetic with the installed Turtlebot and Kobuki packages. I also tried this on a RPI3 and had a similar issue too with the 16.04 Kinetic version. And I cannot update to 18.04, update to Melodic, nor use Turtlebot 3.

As well I am getting the same issue when launching the minimal.launch package as this person has: https://answers.ros.org/question/5220...

That error shown in that link is recreated by running roslaunch turtlebot_bringup minimal.launch

[ERROR] [1582844617.659404647]: Kobuki : malformed sub-payload detected. [85][109][55 6D 01 0F 14 ]

So It might be this issue that’s causing the Odemtry to not function correctly (e.g., only using the linear x-axis portion of the data when changing angles on the physical bot itself).

Here is the data packet itself when running rostopic echo /odom while manipulating the TB2's facing angle:

header: 
  seq: 562
  stamp: 
    secs: 1582844634
    nsecs: 939422878
  frame_id: "odom"
child_frame_id: "base_footprint"
pose: 
  pose: 
    position: 
      x: 0.0579986200668
      y: 0.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
  covariance: [0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10000000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10000000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10000000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

And here's also the output for running roslaunch turtlebot_calibration calibration.launch:

... logging to /home/turtlebot/.ros/log/aec7187a-59bb-11ea-8e07-9c4e36a7b5e0/roslaunch-turtlebot-2794.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.42.0.1:38491/

SUMMARY
========

PARAMETERS
 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/disparity_depth/max_range: 4.0
 * /camera/disparity_depth/min_range: 0.5
 * /camera/disparity_registered_sw/max_range: 4.0
 * /camera/disparity_registered_sw/min_range: 0.5
 * /camera/driver/auto_exposure: True
 * /camera/driver/auto_white_balance: True
 * /camera/driver/bootorder: 0
 * /camera/driver/color_depth_synchronization: False
 * /camera/driver/depth_camera_info_url: 
 * /camera/driver/depth_frame_id: camera_depth_opti...
 * /camera/driver/depth_registration: False
 * /camera/driver/device_id: #1
 * /camera/driver/devnums: 1
 * /camera ...
(more)
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