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Turtlebot sensor defective or fine ?

asked 2013-07-17 03:27:21 -0600

jep31 gravatar image

updated 2014-01-28 17:17:17 -0600

ngrennan gravatar image


I have a Turtlebot (create base) and it' very difficult to localize it because sensors seems pretty bad. I would like to know if my Turtlebot or my data are fine or if there is a problem somewhere.

First, I cannot use directly JointState because the robot publishes always zero values. This is working only in gazebo simulation but not on the real robot. Is there some parameters to set ?

Secondly, odom sends me a angular velocity null when my robot is moving slowly even through wheels are moving (no slipping !). Encoder are on the wheel so it should be send me a velocity even with bad encoder. Does my robot encoders are defective ?

Thirdly, imu is moving itself when robot is stationary. I agree that is common for imu in position because it's a integration but I have also a velocity non null and bad results with.

I have done calibration for imu and odom, I can understand that sensors are not hight quality but what I see it's too much important to work fine. I see a lot of great videos with Turtlebot so I was wondered if these errors are normal or not.

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answered 2013-07-18 02:13:35 -0600

dornhege gravatar image
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I made my own tests similar to those. The result is very bad all the time. Error on orientation has a bigger impact on the position of course. Is it possible that encoders have a low pass filter ?

jep31 gravatar image jep31  ( 2013-08-07 02:01:18 -0600 )edit

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Asked: 2013-07-17 03:27:21 -0600

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Last updated: Jul 18 '13