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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.

(2/4) Angular Speed Calibration Check

(4/4) Straight-line Check

Last modified 6mo ago