How not to drift /odom frame

[sasilva1998]

I am having problems simulating this using a mapping algorithm. Since /odom frame drifts the map is done wrong, how can I stop /odom from drifting?

[awesomebytes]

Odometry is taken from the wheels, so it is expected to drift. It uses this plugin: https://github.com/awesomebytes/pepper_robot/blob/correct_chain_model/pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro#L724-L739 If you want a ground truth odometry, you'll need to add to the Gazebo part of the URDF a groundtruth odometry, a reference could be this: http://wiki.ros.org/pr2_gazebo_plugins/Tutorials/Creating%20a%20ROS%20Ground%20Truth%20Pose%20Broadcaster Good luck!

…

On Wed, Nov 3, 2021, 07:46 Steven A. Silva ***@***.***> wrote: I am having problems simulating this using a mapping algorithm. Since /odom frame drifts the map is done wrong, how can I stop /odom from drifting? — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#9>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AANEK5H7AAPLFTZNK2OP2VDUKBE3RANCNFSM5HHMFPQA> .