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2014-08-13 16:10:36 -0500 commented question How to tweak the Odometry accuracy in gazebo?

Could you please describe how to?

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2014-08-12 12:44:06 -0500 asked a question How to tweak the Odometry accuracy in gazebo?

I am working with the turtlebot simulator. I have subscribed to the topic /Odometry to read the message on it. I compute the difference between the location in this message and the ground truth location of the robot. I subscribe to the /gazebo/model_states topic to obtain the ground truth location (the "mobile_base" component of the message).

This is the plot of the difference (2D euclidean distance) between the Odometry message and ground truth location: (the sample number increases linearly with time, so the x-axis is proportional to simulation time)

Odometry Accuracy (right click here and select "Open in new Tab" to view):

Are there parameters that can be tweaked to reduce this level of accuracy? The problem is that the odometry seems to be accurate within a few centimeters, which is unrealistic. This limits what we can study using the simulated model.

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2014-07-21 13:55:20 -0500 asked a question How to run turtlebot gazebo without GUI?

I tried to see if this command would work but it did not.

roslaunch turtlebot_gazebo turtlebot_empty_world.launch gui:=false

Is there an argument that can be used to disable the GUI for turtlebot simulator in Gazebo?

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2014-07-08 12:55:53 -0500 asked a question How to automate the movement of turtlebot in gazebo world?

Is there a way to automate pre-determined movement (say around the periphery of the room 20 times) of the turtlebot in the turtlebot simulator? Basically, I'm wondering if there is a way to circumvent having to manually move the simulated robot around using teleop?

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2014-07-07 18:31:30 -0500 asked a question How to record accuracy of gmapping in the turtlebot simulator

I was wondering if there is a way to know the accuracy of the map built using gmapping, in the turtlebot simulator. Also, how to use custom maps for the simulation?

2014-07-07 18:28:08 -0500 commented question Problem with launching turtlebot_gazebo

Resolved the problem. The issue was with the graphics driver. Installing proprietary ATI drivers resolved it.

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2014-07-02 13:14:06 -0500 asked a question Problem with launching turtlebot_gazebo

I am running ROS Hydro on Ubuntu 13.04, with kernel 3.8.0-35-generic. My graphics card info: ATI Seymour [Radeon HD 6400M/7400M Series], and I am using the Radeon driver.

I get an error while trying to run the following command from the turtlebot_simulator tutorial:

roslaunch turtlebot_gazebo turtlebot_playground.launch

(I get a similar error while trying to run "roslaunch turtlebot_gazebo turtlebot_empty_world.launch" also)

This is what I get in the terminal window:

process[cmd_vel_mux-6]: started with pid [13821] process[bumper2pointcloud-7]: started with pid [13840] Msg Waiting for master.process[robot_state_publisher-8]: started with pid [13859] Msg Waiting for master Msg Connected to gazebo master @ http:// 127.0.0.1:11345 Msg Publicized address: 10.227.80.208 process[laserscan_nodelet_manager-9]: started with pid [13920] process[depthimage_to_laserscan-10]: started with pid [13926] Floating point exception (core dumped)

[gazebo-2] process has died [pid 13782, exit code 136, cmd /opt/ros/hydro/lib/gazebo_ros/gzserver /opt/ros/hydro/share/turtlebot_gazebo/worlds/playground.world __name:=gazebo __log:=/home/fastslam/.ros/log/cf107f7c-020f-11e4-bfba-e4115b24feb2/gazebo-2.log]. log file: /home/fastslam/.ros/log/cf107f7c-020f-11e4-bfba-e4115b24feb2/gazebo-2*.log

.............................

Error [ConnectionManager.cc:116] Failed to connect to master in 30 seconds.

[gazebo_gui-3] process has died [pid 13787, exit code 255, cmd /opt/ros/hydro/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/fastslam/.ros/log/cf107f7c-020f-11e4-bfba-e4115b24feb2/gazebo_gui-3.log]. log file: /home/fastslam/.ros/log/cf107f7c-020f-11e4-bfba-e4115b24feb2/gazebo_gui-3*.log