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odom frame changes hight

asked 2013-07-17 03:05:41 -0500

pkohout gravatar image


i have a short question about the odom frame.

How is the wanted behaviour of it ?

My Problem is my odom frames changes it hight all time

it is: 0.31 -> 0.12 -> 0.25 -> 0.31 -> 0.12 .....

Is that the behaviour it should it keep it hight? The UAV is not moving, it just stand on the ground. The x and y coordinate are stable

Can someone please explain me how the odom frame should act ?

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Your odom frame is defined w.r.t to which frame?? Check that because any change in parent frame can effect the child frame..

ayush_dewan gravatar image ayush_dewan  ( 2013-07-17 05:44:19 -0500 )edit

the TF tree ist map -> odom -> base_footprint -> ... The map frame is stable. And the base footprint follows the jumps of the odom frame

pkohout gravatar image pkohout  ( 2013-07-17 20:37:27 -0500 )edit

Hey, I would take a look on the encoder values. Maybe the base_footprint is coupled to the encoders. At kobuki-base I had some problems first, because I did not know that then jump after reaching ~6500 or so. But code would be even more useful - please post some :)

glukon gravatar image glukon  ( 2017-09-25 03:38:11 -0500 )edit

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answered 2013-07-17 21:01:59 -0500

Look at the odom values and see what is causing those jumps and also look at corresponding velocities in odom values.

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Asked: 2013-07-17 03:05:41 -0500

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Last updated: Jul 17 '13