Ubuntu 64-bit 14.04 or 16.04. ROS Kinetic or Indigo. ROS Installation
OpenCV 3.3 , Eigen3
Clone the repository and catkin_make:
cd ~/catkin_ws/src
git clone xxx
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)
record the odom datas and observation datas in txt file.
Write your parameters customerly in launch file according to your configuration.
The porgram need 2 different path files and one observation file at least. One path corresponds to one txt file. For example odom_1.txt. "observations.txt" is measurements of paths in world coordinate, one path corresponds to one line in the txt file . The pattern is start location (3 elements x,y,theta), end location (3 elements x,y,theta).
roslaunch odomcal odomcal.launch
-
Hai Dan.
-
Zhang Yu
-
Li Jingyu
Gianluca Antonelli, Stefano Chiaverini. Linear estimation of the physical odometric parameters for differential-drive mobile robots.Auton Robot (2007) 23: 59โ68