Waiterbot v2 localizes bad in Cafe dorothy.

[jihoonl]

The error of localised pose given from amcl is too high to navigate in the Cafe environment. The following symptoms are observed while experiments.

• Robot’s pose does not get updated even if the sensor detects a wall in front of the robot and the estimated pose is in open area
• The map is rotated 5~10 degrees from the reality which is critical for navigation

[jihoonl]

Testing the cafe controller with watierbot v1 has confirmed that the cafe controller logic has no problem for navigating in the cafe. Waiterbot v1 didn’t show the symptoms above which indicates the updated cafe controller logic is not a source of this problem.

	v1	v2
Old cafe controller	good	bad
New cafe controller	good	bad

[jihoonl]

From the continuous experiments, the possible cause is either 1) wrong sensor data reading or 2) defect of base hardware.

1) Waiterbot v2 uses different body and different URDF setting since its 3d sensor is located higher and more front.

2) The waiterbot v2 kobuki uses new wheels, replaced on December 2013, which might have introduced odometry error.

[jihoonl]

The problem has gone with two approaches.

• Correcting the location of camera in urdf
• replace with kobuki base which uses old wheel.

I didn't have time to investigate what the root cause was but the navigation is significantly improved with these patch.

[jihoonl]

We will find out the root cause after the demo.