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tork-a / roomblock

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iRobot Create 1 Support #8

Closed Guofeng-Tang closed 6 years ago

Guofeng-Tang commented 7 years ago

I am using iRobot Create 1 this time, but the driver doesn't seem to support Create 1 very well, seems like it is a known issue that Create 1 odometry is very unusable. (https://github.com/AutonomyLab/create_autonomy/issues/41, https://answers.ros.org/question/31935/createroomba-odometry/)

Create 1 can actually handle hector mapping very well, but not amcl navigation without the proper odom messages, is there a way to solve this problem? Thanks in advance.

7675t commented 7 years ago

This package uses create_node, not create_autonomy for controlling Roomba. Plese check the launch file.

And yes, iRobot create and Roomba produce bad odometry. I think that's why turtlebot_node.py calculate the odometry by itself.

Though I'm not sure about Create (I don't have it), if your Create publish correct /joint_states, I think this code should work well also for Create.

mzahana commented 6 years ago

@stephen-tang I am facing issues with odom on iRobot Create 1. Have you found a solution. Have you found a solution to the odom problem?

Guofeng-Tang commented 6 years ago

No, I have not.

On Tue, 21 Nov 2017 at 3:16 AM, Mohamed Abdelkader Zahana < notifications@github.com> wrote:

@stephen-tang https://github.com/stephen-tang I am facing issues with odom on iRobot Create 1. Have you found a solution. Have you found a solution to the odom problem?

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