# (3/4) Odometry Check

## 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.

**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](https://drive.google.com/file/d/1d2XQhtyPX7hDUDS_dX6wVPJ6zm0XEpWe/view?usp=share_link).


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