mrjohnrobert / calibration

Odometer Calibration

OdomCal

calibrate the parameters of odometer

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 14.04 or 16.04. ROS Kinetic or Indigo. ROS Installation

1.2. Others

OpenCV 3.3 , Eigen3

2. Build

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)

3. Attention

3.1 record your testBag

record the odom datas and observation datas in txt file.

3.2 Configuration file

Write your parameters customerly in launch file according to your configuration.

3.3 Remind

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).

4. Calibration

    roslaunch odomcal odomcal.launch

5. Authors

1. Hai Dan.

2. Zhang Yu

3. Li Jingyu

6. References

Gianluca Antonelli, Stefano Chiaverini. Linear estimation of the physical odometric parameters for differential-drive mobile robots.Auton Robot (2007) 23: 59–68