How to read odometry

[jossichrist]

Dear @eborghi10
i want to control w and v using PID. but before i control it, i should get the data from odometry.

So, here is the problem. once i read "yaw" (translated to euler), the robot doesnt rotate as the odometry said.

for example, the "yaw" = 90 degree. but the robot only rotate 30 degree.

what should i do? or should I add IMU?

Regards,

[eborghi10]

I tested what you said and you're right. There is some difference between /odom and the correct rotation. I don't have certainty right now about what is causing the issue but you could implement one of these two things:

• Create a node that publishes /odom. See this link. Remeber to edit my_robot.gazebo in order to stop publishing the odometry topic automatically by the robot controller.

• Read base_footprint yaw angle in /tf.

Let me know if one of these works in case you implement them.

[eborghi10]

Hey @jossichrist, I think I fixed the issue in this commit. Can you check that again, please?

Here are some images with the fix:

• Gazebo simulation

• RViz simulator