turtlebot_apps: turtlebot_actions | turtlebot_calibration | turtlebot_follower | turtlebot_navigation | turtlebot_sounds | turtlebot_teleop

Package Summary

turtlebot_calibration

• Author: Wim Meeussen
• License: BSD
• Repository: turtlebot-ros-pkg
• Source: hg https://kforge.ros.org/turtlebot/turtlebot_apps

Overview

The current calibration accounts for the following two factors:

• The gyros installed in the robot are relatively cheap and do not have exactly the same properties. There has been observed about a 10% difference in the linear rates reported by different units tested.
• The odometry is affected by the floor surface. Between common livingroom carpet and linoleum floors at 10% difference in reporting has also been observed.

There are more areas to improve:

• compensating for linear distance on different carpets
• an effect of the traveling velocity on the odometry has also been observed, with a larger error at mid-range speeds.

Use

To use this package please follow the Tutorial