Odometry calibration how to - Pioneer 3DX

[Alex R]

Hi All,

I am now setting up a new Pioneer 3DX with kinect and URG laser sensor. I have so far managed to put all the sensors and connect them via rosaria.

I would now like to do odometry calibration of the mobile base. Does anyone know how to do it. There are no specific tutorials available on the ros wiki page. 

Also what are the optimum values of (TicksMM, DriftFactor, RevCount) for P3DX mobile robot. At present when I run the rosaria node I get the settings like this:

TicksMM - 128 

DriftFactor - 0 

RevCount - 16570

I can change these values using dynamic_reconfigure. I need the optimum values for this particular model. And how do I permanently change these parameters everytime I launch the rosaria node.

Thanks

Alex

[Dereck Wonnacott]

It depends on your robot's tires. You should set up a test where you command the robot to drive in a long straight line and measure the actual distance traveled vs the reported distance, adjusting the parameters until it comes into alignment.

Drift factor can be used to help the robot drive in a straight line.  I think there is more documentation about the parameters in your robot's manual, near the end.

~Dereck

“The greater danger for most of us lies not in setting our aim too high and falling short; but in setting our aim too low, and achieving our mark.” - Michelangelo

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http://www.ros.org/wiki/sig/robots/Pioneer