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2022-01-25 04:40:04 -0500 | marked best answer | autonomy_create driver yaw angle range is [2pi ~ -2pi]? Hi all I want to compare my odometry yaw angle and imu yaw angle to understand current accuracy of my IMU. From what I get, IMU output is [pi ~ -pi] but the autonomy_create (using irobotcreate2) yaw angle output starts from 0 upto +/-2pi depending on the robot turning clockwise or anti-clockwise. is this correct? If I can confirm autonomy_create output as [2pi ~ -2pi] I think need to change the source to match with my IMU output. I intend to run robot_localization and robot_pose_ekf in the future, but I think difference in yaw output range of my odom yaw angle and imu yaw angle will have some problem. Thanks in advance. |
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2019-04-08 01:06:49 -0500 | marked best answer | overshoot pose from robot_localization Hi everyone! I'd like to seek your support in running robot_localization. here is my current configuration. ODOM Source: iRobotcreate2 using autonomy_create driver
publishing IMU Source: LPMS USBAL2 using lpms_imu from larics
publishing robot_localization launch (more) |
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2017-10-12 21:00:36 -0500 | commented question | robot_localization nan output when using ODOM x,y in differential mode Hi, my bagfile is upload here. |
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2017-10-10 01:22:45 -0500 | edited question | robot_localization nan output when using ODOM x,y in differential mode robot_localization nan output when using ODOM x,y in differential mode Hello Everyone! As I am trying to solve my previ |
2017-10-10 01:21:42 -0500 | edited question | robot_localization nan output when using ODOM x,y in differential mode robot_localization nan output when using ODOM x,y in differential mode Hello Everyone! As I am trying to solve my previ |
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2017-10-10 00:51:57 -0500 | asked a question | robot_localization nan output when using ODOM x,y in differential mode robot_localization nan output when using ODOM x,y in differential mode Hello Everyone! As I am trying to solve my previ |
2017-10-09 22:23:24 -0500 | asked a question | overshoot pose from robot_localization overshoot pose from robot_localization Hi everyone! I'd like to seek your support in running robot_localization. here i |
2017-10-09 00:37:34 -0500 | edited question | autonomy_create driver yaw angle range is [2pi ~ -2pi]? autonomy_create driver yaw angle range is [2pi ~ -2pi]? Hi all I want to compare my odometry yaw angle and imu yaw angl |
2017-10-09 00:36:21 -0500 | asked a question | autonomy_create driver yaw angle range is [2pi ~ -2pi]? autonomy_create driver yaw angle range is [2pi ~ -2pi]? Hi all I want to compare my odometry yaw angle and imu yaw angl |
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2017-08-07 05:18:25 -0500 | marked best answer | acceptable % of odometry error of autonomy_create Hi All, I am very new into understanding a lot of concepts in ROS, so far I have successfully ran autonomy_create software package and used a simple keyboard_node to drive my create2 robot. So far this is what I have done. My linear velocity is 0.2 to drive create2 forward in typical square tile carpeted floor. When I subscribe to topic \odom, the initial value is as follows: I moved 1m forward and see if I can get 1meter value in my odom pose I moved 1m forward again Based on simple calculation, 19cm is around 10% difference in 2m expected and even y position have some change in value.Currently, I got to know that odometry from wheel encoders alone is erroneous in nature that is why more complex processing is needed (EKF etc.,) now, I would like to know if this 10% error in odometry of autonomy_create that is acceptable to be as input in other package like robot_localization, AMCL etc? I hope I could learn from you guys. Thanks in advance! |
2017-08-07 05:09:48 -0500 | marked best answer | create_autonomy keyboard control Hi Can create_autonomy can support keyboard input? I'd like to control my create2 using simple keyboard commands like forward, backward, rotate clockwise and rotate counterclockwise. |
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2017-08-04 03:21:13 -0500 | asked a question | robot_localization test bagfiles robot_localization test bagfiles Hi! Does any one know what is the expected output of 3 bagfiles included in robot_loca |
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2017-07-31 02:20:23 -0500 | commented question | How to improve the reliability of my robot's localization ? HI @Inounx! may i know what IMU model you are using? thanks |
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2017-07-20 20:17:44 -0500 | answered a question | robot_pose_ekf odom_combined topic is not pusblished everytime I think I know the reason why I don't have robot_pose_ekf/odom_combined topic output regularly because my tf is wrong. I |
2017-07-19 22:26:30 -0500 | asked a question | robot_pose_ekf odom_combined topic is not pusblished everytime robot_pose_ekf odom_combined topic is not pusblished everytime Hi All! I am trying to run robot_pose_ekf package with m |
2017-07-19 20:19:49 -0500 | commented question | AMCL with robot_pose_ekf have you ever run AMCL with robot_pose_ekf successfully? |
2017-07-12 04:45:14 -0500 | commented question | How to extract pose/trajectory data from cartographer? what do you mean by bearing? |
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2017-06-30 01:31:22 -0500 | commented question | How to extract pose/trajectory data from cartographer? Hi! can I ask you how you have plotted the ground truth vs the hector_trajectory output? Excuse me if this is unrelated |
2017-06-27 21:49:23 -0500 | asked a question | comparison of odom and robot_pose_ekf comparison of odom and robot_pose_ekf Hi All In robot_pose_ekf, there is an image that compares the wheel odometry data |
2017-06-15 03:16:08 -0500 | commented question | Laser Filter and Hector Mapping Issue I am using 360deg as well, now I understand what you mean by sensor range, I was trying to run the hector_mapping on the |