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(2/4) Angular Speed Calibration Check

Angular speed calibration check - Test using pub /cmd_vel for accurate result

Check the angular speed for at least 0.1-0.6 rad/s, and check whether the robot rotates correctly. A video recording is encouraged to troubleshoot any issues that may arise.
Likewise, repeat the same method to check angular speed calibration. 
1.Run 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.Set angular x value between 0.1-0.6. Leave the other values as 0.0.
3.Measure how much the robot turns. And similarly, record the time it took to turn. 
4.Check that your calculations match the value you set for angular z.
Alternatively, you may use rosrun telelop_twist_keyboard teleop_twist_keyboard.py. Set angular speed between 0.1-0.5. Then repeat Steps 3 - 5 above.
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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.
You can download the script here.

(1/4) Linear Speed Calibration Check

(3/4) Odometry Check

Last modified 1mo ago