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Calibrate Odometry and Gyro,What is the principle calibration?

asked 2013-06-03 16:03:31 -0500

longzhixi123 gravatar image

updated 2013-11-18 19:30:27 -0500

tfoote gravatar image

hello. i am using tuetlebot with the Gyro ADXRS613,and i got two params named turtlebot_node/gyro_scale_correction turtlebot_node/odom_angular_scale_correction but what's the meaning about two params? and What is the principle calibration? is there some relevant literatures i can study? thanks a lot.

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answered 2013-06-12 00:51:45 -0500

fergs gravatar image

I doubt there is relevant literature, this is a very basic calibration. The robot basically aligns to a wall, spins around several times at different speeds, and at the end tries to generate scale corrections for the gyro and odom such that the values would be correct for those rotations (where the ground truth is based off the laser-scanner detection of the wall to which it keeps aligning).

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I assume you have looked into this? http://www.ros.org/wiki/turtlebot_calibration/Tutorials/Calibrate%20Odometry%20and%20Gyro Note that calibration is very important for localization & navigation.

Zayin gravatar image Zayin  ( 2013-06-12 10:35:05 -0500 )edit

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Asked: 2013-06-03 16:03:31 -0500

Seen: 486 times

Last updated: Jun 12 '13