Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Turtlebot jointSate are always null and Odom speed doesn't work well

Hello,

I have a Turtlebot 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.

Turtlebot jointSate are always null and Odom speed doesn't work well

Hello,

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.

Turtlebot jointSate are always null and Odom speed doesn't work wellsensor defective or fine ?

Hello,

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.

Turtlebot sensor defective or fine ?

Hello,

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.

Turtlebot sensor defective or fine ?

Hello,

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.

Turtlebot sensor defective or fine ?

Hello,

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.