Linear error of odometry


#1

Hello,

I did a linear motion test with the robot at a distance of 5m. The robot travels the right distance but the odometry has presented a 20cm error.

Can I compensate for this odometry error without changing wheel movement control by code?

Thank you!


#2

That sounds like something is slipping on the floor perhaps? That is far more error than I could explain.

BUT if you really wish to compensate in a linear way you can play with the wheel radius we default to for our wheels. We have a .yaml file that holds this radius but keep in mind if you do an apt upgrade this file is overwritten so take a note of what you did.

Look at /opt/ros/kinetic/share/magni_bringup/param/base.yaml and look for wheel_radius.

Again keep in mind that ANY slip will throw off the best of odometry.