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Tuning odometry #10

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LoyVanBeek opened this issue Oct 14, 2020 · 2 comments
Open

Tuning odometry #10

LoyVanBeek opened this issue Oct 14, 2020 · 2 comments

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@LoyVanBeek
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I'm tuning the odometry accoriding to https://www.freedomrobotics.ai/blog/tuning-odometry-for-wheeled-robots

At /cmd_vel at linear.x = 1, my strobe syncs with the wheels at 24Hz.

Measuring:

d_odom d_meas v.x Remarks
0.874 0.831 0.1 So, wall observed through laser should move further away when robot approaches
@LoyVanBeek
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Odometry seems off mostly when starting or stopping

@LoyVanBeek
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LoyVanBeek commented Oct 15, 2020 •
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When turning, the laser scans seem to rotate a bit faster than the robot, in whichever direction it is turning. So, increasing the wheel base should reduce that.

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@LoyVanBeek