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