Ask Your Question

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

asked 2013-05-08 12:05:32 -0600

Hemu gravatar image

updated 2013-05-16 07:12:58 -0600

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.

edit retag flag offensive close merge delete


What kinds of errors are you seeing?

joq gravatar image joq  ( 2013-05-09 05:18:49 -0600 )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 -0600 )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 -0600 )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 -0600 )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 -0600 )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 -0600 )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 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2016-10-06 11:33:48 -0600

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.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools


Asked: 2013-05-08 12:05:32 -0600

Seen: 314 times

Last updated: Oct 06 '16