Re: [PlayerStage-Gazebo] Odometry Error

[Luis M. <lui...@gm...>]

If you're using your own model, you probably didn't set correctly the radius
and distances between the wheels:
  <wheelSeparation>0.34</wheelSeparation>
  <wheelDiameter>0.16</wheelDiameter>

I guess (I didn't actually read the code) that the odometry is computed
using this values. Thus, they must match with the actual values of the
model.

Luis


2010/8/26 John Hsu <jo...@wi...>

> how are you controlling the pioneer?  I tried giving it a goal using the
> example file (attahed position.cc) and was able to achieve target linear
> and
> angular velocities.
> also, can you try the attached patch and see if the slip behavior goes
> away?
> John
>
> On Wed, Aug 25, 2010 at 10:41 PM, Luc Brunet <
> lb...@pr...
> > wrote:
>
> > Hi John, thanks for the reply.  Yes, I meant <mu1>, although I was
> > unaware of <mu2>, is there a difference?  I was originally using my own
> > model, but then verified the same behaviour in the pioneer2dx model that
> > comes as an example.
> >
> > Luc
> >
> > On 08/26/2010 01:37 AM, John Hsu wrote:
> > > Hi Luc,
> > > Do you mean<mu1>  (and<mu2>)?  Also, are you using one of the pioneer
> > > models that comes with the svn checkout?
> > > John
> > >
> > >
> > > On Wed, Aug 25, 2010 at 8:21 PM, Luc Brunet
> > > <lb...@pr...>wrote:
> > >
> > >> Hi everyone,
> > >>
> > >> I am using a differential drive robot in Gazebo (svn version), and I
> am
> > >> noticing a lot of slip in the wheels that is giving me large errors,
> > >> particularly in the heading when I am spinning.  It is to the point
> > >> where I visibly watch the robot spin twice before the yaw values
> > >> indicate that it has spun once.  Can someone point me to some setting
> to
> > >> play with so that I can tune this?  I have tried setting the<mul>  of
> > >> the wheels to infinity without any noticeable change in behaviour.
> > >>
> > >> Thanks alot!
> > >>
> > >> --
> > >> Luc Brunet
> > >> Co-Founder, Director - Robotic Systems
> > >> Provectus Robotics Solutions
> > >> www.provectus-robotics.com
> > >>
> > >>
> > >>
> >
> ------------------------------------------------------------------------------
> > >> Sell apps to millions through the Intel(R) Atom(Tm) Developer Program
> > >> Be part of this innovative community and reach millions of netbook
> users
> > >> worldwide. Take advantage of special opportunities to increase revenue
> > and
> > >> speed time-to-market. Join now, and jumpstart your future.
> > >> http://p.sf.net/sfu/intel-atom-d2d
> > >> _______________________________________________
> > >> Playerstage-gazebo mailing list
> > >> Pla...@li...
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> > >>
> > >
> >
> ------------------------------------------------------------------------------
> > > Sell apps to millions through the Intel(R) Atom(Tm) Developer Program
> > > Be part of this innovative community and reach millions of netbook
> users
> > > worldwide. Take advantage of special opportunities to increase revenue
> > and
> > > speed time-to-market. Join now, and jumpstart your future.
> > > http://p.sf.net/sfu/intel-atom-d2d
> > > _______________________________________________
> > > Playerstage-gazebo mailing list
> > > Pla...@li...
> > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
> > --
> > Luc Brunet
> > Co-Founder, Director - Robotic Systems
> > Provectus Robotics Solutions
> > www.provectus-robotics.com
> >
> >
> >
> ------------------------------------------------------------------------------
> > Sell apps to millions through the Intel(R) Atom(Tm) Developer Program
> > Be part of this innovative community and reach millions of netbook users
> > worldwide. Take advantage of special opportunities to increase revenue
> and
> > speed time-to-market. Join now, and jumpstart your future.
> > http://p.sf.net/sfu/intel-atom-d2d
> > _______________________________________________
> > Playerstage-gazebo mailing list
> > Pla...@li...
> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
>
>
> ------------------------------------------------------------------------------
> Sell apps to millions through the Intel(R) Atom(Tm) Developer Program
> Be part of this innovative community and reach millions of netbook users
> worldwide. Take advantage of special opportunities to increase revenue and
> speed time-to-market. Join now, and jumpstart your future.
> http://p.sf.net/sfu/intel-atom-d2d
> _______________________________________________
> Playerstage-gazebo mailing list
> Pla...@li...
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>
>