Odom

[NMartin354]

So, I'm trying to get into ROS with this project, and there's something wrong with my odometry. When I'm driving around it eventually ends up deviating from what rvis is showing. I want to fix this, but I don't know how.

How can I tune this?

According to the videos I'm learning, there should be a description file somewhere that I could change like the wheel size, or distance, but I can't find anything that looks familiar.

[jnugen]

Hello! I haven't messed with the Neato stuff in a while. I'm forwarding your message to Camp. He is pretty knowledgeable about the Neato stack on ROS.

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On Mon, Nov 21, 2022 at 11:02 AM pingyofdoom ***@***.***> wrote: So, I'm trying to get into ROS with this project, and there's something wrong with my odometry. When I'm driving around it eventually ends up deviating from what rvis is showing. I want to fix this, but I don't know how. How can I tune this? According to the videos I'm learning, there should be a description file somewhere that I could change like the wheel size, or distance, but I can't find anything that looks familiar. — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[jnugen]

Hello James! Good to hear from you, and Happy Holidays! I don't see pingyofdoom's email here, but this is my answer.  The Botvac package doesn't use the standard counting of odometry ticks to calculate motion. It uses the Neato's built-in odometry command (built into setmotor) as described in the Neato Programmer's Manual: https://help.neatorobotics.com/wp-content/uploads/2020/07/XV-ProgrammersManual-3_1.pdf   If you look at "neato_driver.py"* you can see where it gives the robot odometry using "setmotor". Here is my Neato Botvac Github forked from James Nugen's work, among others: https://github.com/cpeavy2/botvac_node   My email address is ***@***.***" if you have further questions, join our HomeBrew Robotics Club meeting on Nov 30 at 7pm Pacific Time.  HomeBrew Robotics Clubhttps://www.hbrobotics.org/  Thanks,Camp * https://github.com/cpeavy2/neato_robot/blob/foxy_devel/neato_driver/neato_driver/neato_driver.py  On Tuesday, November 22, 2022 at 09:43:33 PM EST, James Nugen ***@***.***> wrote: Hello! I haven't messed with the Neato stuff in a while. I'm forwarding your message to Camp. He is pretty knowledgeable about the Neato stack on ROS.

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On Mon, Nov 21, 2022 at 11:02 AM pingyofdoom ***@***.***> wrote: So, I'm trying to get into ROS with this project, and there's something wrong with my odometry. When I'm driving around it eventually ends up deviating from what rvis is showing. I want to fix this, but I don't know how. How can I tune this? According to the videos I'm learning, there should be a description file somewhere that I could change like the wheel size, or distance, but I can't find anything that looks familiar. — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>