iRobot Create odometry problem
So I am using an iRobot Create 2 with create_autonomy package from github. However, the odometry is wrong. Every time I go 1 meter, it only goes .9 meter. I tried to go into
opt/ros/kinetic/include/create/util.h
and change the
V3_ticks_per_rev
like what it said here: https://github.com/AutonomyLab/create...
but it doesn't matter what I change it to it's still the same. I am pretty sure the diameter is right so I am wondering how I could fix this. Any help is appreciated!
Does it go exactly 0.9 metres every time you move it exactly 1 metre? How do you determine that it has moved 1 metre, or are you actually referring to the command you sent it rather than a distance on the floor that you have measured?
@Geoff It goes around 0.9 depending on the speed that I set. And yes I set up a line and marked values up to 1 meter and wrote a cmd_vel node for it to go 1 meter (1,0). I set the error range to be 3 meter since robot could never go to the exact spot.