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MegviiRobot / OdomLaserCalibraTool

Extrinsic Calibration of a Odom and 2d Laser
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The wheel radius in the calibration parameters is negative #6

Closed Cristalyoyo closed 4 years ago

Cristalyoyo commented 4 years ago

Hi, I encountered the following problems while using the program The absolute value of the calibration result is basically consistent with the actual parameters of the robot, but the wheel radius and laser-odom x are negative. The attachment has data and a more detailed problem description.

datas_and_questions.zip

paulwong16 commented 4 years ago

Hi, I encountered the following problems while using the program The absolute value of the calibration result is basically consistent with the actual parameters of the robot, but the wheel radius and laser-odom x are negative. The attachment has data and a more detailed problem description.

datas_and_questions.zip

Please check if wheels' velocity are correct. odom->vector.x should be left wheel's velocity and vector.y should be the right, respectively, otherwise please modify the code in line 76&77 in io.cpp.

Best, Zhijie

Cristalyoyo commented 4 years ago

Hi, I encountered the following problems while using the program The absolute value of the calibration result is basically consistent with the actual parameters of the robot, but the wheel radius and laser-odom x are negative. The attachment has data and a more detailed problem description. datas_and_questions.zip

Please check if wheels' velocity are correct. odom->vector.x should be left wheel's velocity and vector.y should be the right, respectively, otherwise please modify the code in line 76&77 in io.cpp.

Best, Zhijie

Thank you for your support and help, the problem has been solved～～ Best wishes, Lihong