What is the accuracy of ros navigations ? How I improve localization and navigation?
I am using differential drive robot.
It has 2 servo motors to drive and encoder for odometry And also Lidar/laser sensor. I try to find out precision of navigation. Is there any information about accuracy of amcl or navigation ?
When i sent x=4.0 y=0.0 , my robot can not get exact position. it goes between 4.10-3.90 meters. I think Sensivity of navigation +-10 cm...
I echo /amcl_pose and also tf tf_echo. They are not the same everytime. When actual position of robot is 4.10, tf tf_echo shows me x=3.87. Which one is dependable ? Amcl_pose, tf tf_echo /map /base_link or something else?
2) What is the reason of low accuracy. Amcl or navigation ? ( which params most effective in accuracy ? )
3) I want to reduce the weight of the odom and increase the weight of the laser in amcl calculation. Which params should be changed? second question , to improve localization and navigation...
