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Dealing with errors in odometry when a robot moves up or down a slope

asked 2013-05-08 12:05:32 -0500

Hemu gravatar image

updated 2013-05-16 07:12:58 -0500

joq gravatar image

Hi all, Is there any algorithm/method to compensate the errors in Odometry (for dead reckoning) that might creep in when a robot moves up or down a slope? I am using a turtlebot which uses a kinect.

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What kinds of errors are you seeing?

joq gravatar image joq  ( 2013-05-09 05:18:49 -0500 )edit

The change in x and y coordinates does not take the slope into consideration. The change in both x and y coordinates must be multiplied by cos(angle_of_inclination). How can I measure the angle of inclination of slope?

Hemu gravatar image Hemu  ( 2013-05-09 09:25:10 -0500 )edit

I don't have a turtlebot here. Have you looked at the IMU output?

joq gravatar image joq  ( 2013-05-09 09:37:53 -0500 )edit

After starting the roomba node, I tried "rostopic find sensor_msgs/Imu". But it did not return any result.

Hemu gravatar image Hemu  ( 2013-05-16 04:44:50 -0500 )edit

Some turtlebots may have a separate IMU, not part of the roomba. Did you start up everything?

joq gravatar image joq  ( 2013-05-16 04:49:51 -0500 )edit

I also launched the minimal.launch for roomba 500. But nothing was being published when I used the command "rostopic echo /imu/data". I think IMU is missing in Roomba 500 base.

Hemu gravatar image Hemu  ( 2013-05-16 06:46:38 -0500 )edit

Sounds like you need expert turtlebot assistance, which I cannot provide. Maybe adding turtlebot and roomba tags would help get that kind of attention.

joq gravatar image joq  ( 2013-05-16 07:12:09 -0500 )edit

1 Answer

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answered 2016-10-06 11:33:48 -0500

the package robot_localization might be what you looking for. It is used to fuse multiple sensors together but I think it would work with just one sensor. It has a 2d mode and 3d mode. If the slopes that your dealing with are large enough then you should use 3d mode and that should solve your issue.

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Asked: 2013-05-08 12:05:32 -0500

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Last updated: Oct 06 '16