I finished my real robot project and wanted to test on turtlebot3 so i connected to the robot. The odom values i got from simulation and real robot is so different that i couldnt really test my code. I also couldnt find the difference between them to correct it since my time at the robot is finished while i was searching for the reason how should i approach this problem?
Firm up your testing plans and book another connection to the real robot.
- Prepare the data of the simulation in advance.
- When you connect to the real robot quickly gather all the data you need for comparison.
- Do the comparison after the connection.
- Make adjustments based on your comparison and test again until everything is perfect.
Thank you for the reply i think i should also try different method without relying on odom values. Writing this here just for the if other people also needs some ideas.
Hi @retarkek ,
Here are some tips from my experience. Even I was in the same situation like you when I connected to the real robot for the very first time.
- Create a python program to:
a. subscribe to/odomand write the values to a file for 15-30 seconds
b. subscribe to/scanand write the values to a file for 15-30 seconds
c. subscribe to/imuand write the values to a file for 15-30 seconds
d. You can do the same for/tftopic, but it is not necessary for ROS1/2 Basics course. - Move the robot around with the on-screen joystick while doing any of the above three tasks.
- If possible, create a
rosbagwith all topics and move the robot around with the on-screen joystick. You can later use thisrosbagto understand the dynamics of the robot. [I did this and it helped me a lot.]
Hope this helps!
Regards,
Girish
Hi
I did not know about rosbag i was thinking to save them manually thank you for the insight.
Hi @retarkek ,
If you had completed ROS Basics course, you will definitely be introduced to rosbag.
But I think it comes in the last chapter, so in case you are half-way through the course, you would have not known it.
Regards,
Girish