Closed Octalivia closed 5 years ago
I think that the problem is not because of rf2o. I found it worked well when drifting, maybe the reason is the AMCL location lost
Hi @Octalivia, Thanks for being interested in this project. About the drifting issue, based on my understanding, it has several causes:
The best way to solve it is to add wheel odometry (encoder based). So this is why we launched the other project called "HyphaROS-minicar". Since the new platform provides wheel odometry which make us be able to implement advanced controller on it (e.g. 2 layers MPC)
Or you can use state-of-art VIO(e.g. ROVIO, SVO, etc) to replace laser based odometry.
The other potential solution would be, again, using VIO for localization (e.g. ROVIOLI)
Cheers, HaoChih, Lin
Thank u @haochihlin I aprreciate the information and advice you have provided. The problem was partially resolved by changing the amcl.launch.xml. Although particle cloud dispersion still happens after the brake, the odom doesn't drift like it used to be. I will optimize the parameters to make it better. By the way, the documents have mentioned the speed of the racecar is up to 3m/s. Is it encoder-based or not? Best regards, Octalivia
Yes, the video you saw in the readme was based on rf2o odometry.
When the racecar have a greater acceleration to speed up or brake, the odometry will drift even when it is still after applying the brake. So I check the odometry got from rf2o, and it drifts. I wonder have you ever met this problem and how to deal with it?