From: Cathy L. <ca...@ci...> - 2004-11-01 23:40:32
|
Hi, I have read in a previous posting that Stage does not simulate odometry errors. However, when I compare the readings of the Position and Truth devices on a simple constant speed trajectory for given timestamps, I fin= d slight differences between them. In fact, the position readings seem to be evolving faster than the ground truth. I assume this is due to the fact that the State position device does not execute control commands perfectly. What is the cause of this, and what kind of errors should I expect? Thanks, Cathy Laporte |
From: Richard v. <va...@cs...> - 2004-11-03 04:51:57
|
On 1-Nov-04, at 3:40 PM, Cathy Laporte wrote: > Hi, > > I have read in a previous posting that Stage does not simulate odometry > errors. However, when I compare the readings of the Position and Truth > devices on a simple constant speed trajectory for given timestamps, I > find > slight differences between them. In fact, the position readings seem > to > be evolving faster than the ground truth. I assume this is due to the > fact that the State position device does not execute control commands > perfectly. What is the cause of this, It's a bug. It could be rounding errors or some little mistake like that. Stage is not trying to simulate odometry errors. > and what kind of errors should expect? I think you're the first person to report this effect, so I don't really know! If you find and fix the problem, I'll be happy to apply the patch to the tree. If you need a fix, but can't figure it out yourself, please submit it as a bug on the tracking system. cheers, Richard. -- Richard Vaughan School of Computing Science / Simon Fraser University |