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jnugen / botvac_node

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Odom #5

Open NMartin354 opened 2 years ago

NMartin354 commented 2 years ago

So, I'm trying to get into ROS with this project, and there's something wrong with my odometry. When I'm driving around it eventually ends up deviating from what rvis is showing. I want to fix this, but I don't know how.

How can I tune this?

According to the videos I'm learning, there should be a description file somewhere that I could change like the wheel size, or distance, but I can't find anything that looks familiar.

jnugen commented 2 years ago

Hello! I haven't messed with the Neato stuff in a while. I'm forwarding your message to Camp. He is pretty knowledgeable about the Neato stack on ROS.

On Mon, Nov 21, 2022 at 11:02 AM pingyofdoom @.***> wrote:

So, I'm trying to get into ROS with this project, and there's something wrong with my odometry. When I'm driving around it eventually ends up deviating from what rvis is showing. I want to fix this, but I don't know how.

How can I tune this?

According to the videos I'm learning, there should be a description file somewhere that I could change like the wheel size, or distance, but I can't find anything that looks familiar.

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you are subscribed to this thread.Message ID: @.***>

jnugen commented 2 years ago

Hello James! Good to hear from you, and Happy Holidays! I don't see pingyofdoom's email here, but this is my answer.  The Botvac package doesn't use the standard counting of odometry ticks to calculate motion. It uses the Neato's built-in odometry command (built into setmotor) as described in the Neato Programmer's Manual: https://help.neatorobotics.com/wp-content/uploads/2020/07/XV-ProgrammersManual-3_1.pdf   If you look at "neato_driver.py"* you can see where it gives the robot odometry using "setmotor". Here is my Neato Botvac Github forked from James Nugen's work, among others: https://github.com/cpeavy2/botvac_node   My email address is @." if you have further questions, join our HomeBrew Robotics Club meeting on Nov 30 at 7pm Pacific Time.  HomeBrew Robotics Clubhttps://www.hbrobotics.org/  Thanks,Camp  https://github.com/cpeavy2/neato_robot/blob/foxy_devel/neato_driver/neato_driver/neato_driver.py  On Tuesday, November 22, 2022 at 09:43:33 PM EST, James Nugen **@.***> wrote:

Hello! I haven't messed with the Neato stuff in a while. I'm forwarding your message to Camp. He is pretty knowledgeable about the Neato stack on ROS.

On Mon, Nov 21, 2022 at 11:02 AM pingyofdoom @.***> wrote:

So, I'm trying to get into ROS with this project, and there's something wrong with my odometry. When I'm driving around it eventually ends up deviating from what rvis is showing. I want to fix this, but I don't know how.

How can I tune this?

According to the videos I'm learning, there should be a description file somewhere that I could change like the wheel size, or distance, but I can't find anything that looks familiar.

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you are subscribed to this thread.Message ID: @.***>