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awesomebytes / pepper_virtual

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How not to drift /odom frame #9

Open sasilva1998 opened 2 years ago

sasilva1998 commented 2 years ago

I am having problems simulating this using a mapping algorithm. Since /odom frame drifts the map is done wrong, how can I stop /odom from drifting?

awesomebytes commented 2 years ago

Odometry is taken from the wheels, so it is expected to drift. It uses this plugin:

https://github.com/awesomebytes/pepper_robot/blob/correct_chain_model/pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro#L724-L739

If you want a ground truth odometry, you'll need to add to the Gazebo part of the URDF a groundtruth odometry, a reference could be this:

http://wiki.ros.org/pr2_gazebo_plugins/Tutorials/Creating%20a%20ROS%20Ground%20Truth%20Pose%20Broadcaster

Good luck!

On Wed, Nov 3, 2021, 07:46 Steven A. Silva @.***> wrote:

I am having problems simulating this using a mapping algorithm. Since /odom frame drifts the map is done wrong, how can I stop /odom from drifting?

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