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(3/4) Odometry Check

Ensure odometry is working well

Linear check

  • Align the bot appropriately to test 3-4 meters of linear, straight distance without an angular component. Test using the following command in Terminal: 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"
  • Restart motor
  • Check odom pose is zero.
  • Publish only linear vel x: 0.1 and stop the bot at the 3-4 m mark.
  • Echo the odom topic: rostopic echo /odom.
  • Compare the pose of the updated odom with linear and angular bot travelled (offset 1-2%).

Angular check

  • Align the bot properly. Mark the spot where the bot will begin rotating.
  • Restart the motors.
  • Rotate the bot clockwise. Quaternion should be updated to negative.
  • Restart the motor and rotate the bot anticlockwise. Quaternion should be updated to positive.
  • Restart the motor. Rotate and stop the bot at the original marked spot.
  • Make sure that the angular pose is a 0 rad change.