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I am using encoders to calculate the odometry of my mobile robot. However, sometimes the position of robot will suddenly jump. The following video shows how the robot jump: https://www.youtube.com/watch?v=Q2W1q...
The encoder_distance topic at 0.39 is the encoder pulse topic. The pulses of the encoders do not jump when the robot jumps. I wonder if the jumping is caused by tf error? Please help me.
I'm pretty sure what you see jumping is not odometry, but the correction to the estimated robot pose performed by your SLAM algorithm (which estimates the map -> odom transform). Note you have set your "fixed frame" to "map" in rviz, so you're watching things relative to the "map" fixed frame. To observe if your odometry jumps, you'd have to switch the "fixed frame" to "odom".
I tried to change my fixed frame to odom but the "jump" is even more aggressive. Here is the video https://www.youtube.com/watch?v=g9jxh...
Hi, I have my fixed frame set to odom but I am also having trouble and seeing these odometry jumps which are causing trouble for gmapping to work correctly. I am following these steps in order to be able to use gmapping. Help please!
Maybe you could take a look the tf's "average rate" (rosrun tf view_frame) to see whether all the frames have the rate around the same range. I encountered the same jumping problem earlier, and it was caused by publishing odometry much slower than other frames for me. When I increase the odom publishing rate, there is no more jumping.
Asked: 2015-02-06 02:25:28 -0600
Seen: 2,605 times
Last updated: Mar 20 '15
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Can you give us more information? What packages are you using? Sensor drivers? Sensors?