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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
Apache License 2.0
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Faulty Odometry - The pose values published at startup are extremely large. #1014

Open dlwlrma1516 opened 3 months ago

dlwlrma1516 commented 3 months ago

ISSUE TEMPLATE ver. 0.4.0

  1. Which TurtleBot3 platform do you use?

    • [ ] Burger
    • [ ] Waffle
    • [Y] Waffle Pi

  2. Which ROS is working with TurtleBot3?

    • [ ] ROS 1 Kinetic Kame
    • [Y] ROS 1 Melodic Morenia
    • [ ] ROS 1 Noetic Ninjemys
    • [ ] ROS 2 Dashing Diademata
    • [ ] ROS 2 Eloquent Elusor
    • [ ] ROS 2 Foxy Fitzroy
    • [ ] etc (Please specify your ROS Version here)

  3. Which SBC(Single Board Computer) is working on TurtleBot3?

    • [ ] Intel Joule 570x
    • [ ] Raspberry Pi 3B+
    • [ ] Raspberry Pi 4
    • [Y] Jetson AGX Xavier

  4. Which OS you installed on SBC?

    • [ ] Raspbian distributed by ROBOTIS
    • [Y] Ubuntu MATE (16.04/18.04/20.04)
    • [ ] Ubuntu preinstalled server (18.04/20.04)
    • [ ] etc (Please specify your OS here)

  5. Which OS you installed on Remote PC?

    • [ ] Ubuntu 16.04 LTS (Xenial Xerus)
    • [Y] Ubuntu 18.04 LTS (Bionic Beaver)
    • [ ] Ubuntu 20.04 LTS (Focal Fossa)
    • [ ] Windows 10
    • [ ] MAC OS X (Specify version)
    • [ ] etc (Please specify your OS here)

  6. Specify the software and firmware version(Can be found from Bringup messages)

    • Software version: [x.x.x]
    • Firmware version: [x.x.x]

  7. Specify the commands or instructions to reproduce the issue.

    roslaunch turtlebot3_bringup turtlebot3_robot.launch

  8. Copy and Paste the error messages on terminal.

    odom1

    odom2

  9. Please describe the issue in detail.

When I start the odometer, the X, Y, and Z values are extremely high and unstable, bouncing around between -5 to 5. Power cycling and re-flashing the OpenCR board have not resolved the issue, and I'm unsure why this problem is occurring. However, after moving the robot a short distance using roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch, the odometer values return to normal.