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(1/4) Linear Speed Calibration Check
Ensure robot is moving linearly at the right speed
A minimum speed of 0.1 - 0.5 m/s needs to be tested. Also, manually check if the robot covers the distance correctly. A video recording is encouraged to troubleshoot any issues that may arise.
- 1.Open a new terminal window. Execute this command:
rostopic pub /cmd_vel geometry_msgs/Twist "linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0" - 2.Change the
linear: x:to 0.1-0.5 as we only want to move the robot straightly forward. Leave all the other values to 0.0. - 3.Measure the distance the robot moved. And record the time between when the robot started to move and when the robot stopped. Calculate speed by dividing the distance over time.
- 4.Check whether your calculated speed matches up to the value that you have given for linear x.
- 5.If not, please recalibrate your wheels.
Alternatively, you may use
rosrun telelop_twist_keyboard teleop_twist_keyboard.py. Similarly, give it a linear speed between 0.1-0.5. Then repeat Steps 3 - 5 above.Note:
- If your robot is non-holonomic, it shouldn't be able to slide sideways. y should be 0.0.
- If your robot is not flight-capable, z should be 0.0.
Validating Odometry Data
We provide you with a script that enables you to verify the odometry data by inputting the velocity and duration. The robot will then move at the specified velocity for the given duration. Subsequently, the script will calculate and provide the distance traveled by the robot based on these inputs.
This will facilitate the verification of your odometry data, making it easier and more efficient for you.