how to obtein odometry from joint_states?

asked 2020-04-23 10:12:27 -0600

mattewthep gravatar image

updated 2020-05-02 04:01:00 -0600

Hi, I'm facing a trouble with joint_states. I need to calculate the odometry from that topic. The problem is joint_states has never the velocity set to 0, so there's an increasing error in position of the joint and the error on the odometry grows over time. What can I do?

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Probably not what you came to hear, but:

What can I do?

Figure out why this happens I would say:

The problem is joint_states has never the velocity set to 0

gvdhoorn gravatar image gvdhoorn  ( 2020-04-23 14:03:14 -0600 )edit

gvdhoorn, I know the velocity in joint_states is never set to 0 but I'd like to know if there's a workaround to exactly calculate the odometry using that topic. I need to use it

mattewthep gravatar image mattewthep  ( 2020-04-24 03:46:58 -0600 )edit

Perhaps you could calculate the derivative yourself based on two JointState messages? But if the velocity never becomes zero, I doubt dx/dt will be.

Personally I would try to understand the cause, and see whether that could be addressed, instead of looking for work-arounds. But that may not be possible. Only you know that.

gvdhoorn gravatar image gvdhoorn  ( 2020-04-24 03:58:58 -0600 )edit