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2016-12-30 22:18:19 -0500 | commented question | Tricycle Model Fixed! (mostly) Ha, thank you for the heads up! Fingers crossed someone there can help :) |
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2016-12-30 12:24:13 -0500 | asked a question | Tricycle Model Fixed! (mostly) I've rewritten the tricycle plugin so that it now produces good navigation using rqt commands in Gazebo, with good correspondence to maps produced in rviz using rtabmap. You can download my code to experiment with here :) My inspiration came from the Instantaneous Centre of Rotation discussion here. Input is greatly appreciated! Let me know if there are other files you need in order to play around with it. ONGOING ISSUES: 1) I'm concerned that my sign conventions for x and y seem to be reversed (compared to what I imagined them to be) in the code (see line 357 onward).
2) Possibly related is the fact the velocities in odom seem to be given in the global frame. With the differential drive plugin, you only ever see linear x velocity being non-zero (linear y velocity = 0 always).
3) Another concern is drift. Errors accumulate when switching between hard clockwise and counterclockwise turns. There may be an issue with how I've handled setting the steering angle to avoid jittering around angle = 0 (see line 288).
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2016-11-30 12:17:59 -0500 | asked a question | Tricycle Model (rqt fix!) Odometry Issue New to ROS, but I am trying to get the tricycle model plugin to accurately respond to rqt commands and update its position in rviz. I was able to get good response to rqt commands in Gazebo by:
Despite this fix helping to get the tricycle responding well with rqt commands, it produces strange artefacts in rviz --- when rotating, the walls all appear to rotate with the tricycle. It would appear that the tricycle doesn't know that it's rotating, and continues to update its map as though it were always facing forward (see screenshots). The GazeboTricycleDrive::UpdateOdometryEncoder() function appears to be using the exact same physics as the differential drive plugin. I have a suspicion that this is where the error is creeping in: the rear wheels are rotating at the same speeds and it will therefore never register any rotation from the encoders. I tried to gut the existing UpdateOdometryEncoder() code and replace the pose_encoder_.x, pose_encoder_.y, pose_encoder_.theta updates with dx, dy, and dtheta values deriving from these sources: My code looks something like: But neither method fixes the problem of the moving map, and it also creates some wonky looking movement in rviz. IF my logic is fine, should I be grabbing my angles from elsewhere? I get the sense using pose_encoder_.theta isn't strictly kosher. Any help is appreciated. Please let me know if there's any other information you need. EDIT: To clarify, the ... (more) |
2016-11-25 12:03:06 -0500 | received badge | ● Enthusiast |
2016-11-16 16:23:37 -0500 | commented answer | libpointmatcher not found tinoki or libing64 --- were you required to change any of the directory/cmake file names? I've tried following these instructions and have had no luck getting either catkin_make or catkin_make_isolate to work. |