ROBOTIS-GIT/turtlebot3

Faulty Odometry - The pose values published at startup are extremely large.

dlwlrma1516 opened this issue · 1 comments

dlwlrma1516 commented

ISSUE TEMPLATE ver. 0.4.0

  1. Which TurtleBot3 platform do you use?

    • Burger
    • Waffle
    • [Y] Waffle Pi

  2. Which ROS is working with TurtleBot3?

    • ROS 1 Kinetic Kame
    • [Y] ROS 1 Melodic Morenia
    • ROS 1 Noetic Ninjemys
    • ROS 2 Dashing Diademata
    • ROS 2 Eloquent Elusor
    • ROS 2 Foxy Fitzroy
    • etc (Please specify your ROS Version here)

  3. Which SBC(Single Board Computer) is working on TurtleBot3?

    • Intel Joule 570x
    • Raspberry Pi 3B+
    • Raspberry Pi 4
    • [Y] Jetson AGX Xavier

  4. Which OS you installed on SBC?

    • Raspbian distributed by ROBOTIS
    • [Y] Ubuntu MATE (16.04/18.04/20.04)
    • Ubuntu preinstalled server (18.04/20.04)
    • etc (Please specify your OS here)

  5. Which OS you installed on Remote PC?

    • Ubuntu 16.04 LTS (Xenial Xerus)
    • [Y] Ubuntu 18.04 LTS (Bionic Beaver)
    • Ubuntu 20.04 LTS (Focal Fossa)
    • Windows 10
    • MAC OS X (Specify version)
    • etc (Please specify your OS here)

  6. Specify the software and firmware version(Can be found from Bringup messages)

    • Software version: [x.x.x]
    • Firmware version: [x.x.x]

  7. Specify the commands or instructions to reproduce the issue.

    roslaunch turtlebot3_bringup turtlebot3_robot.launch

  8. Copy and Paste the error messages on terminal.

    odom1

    odom2

  9. Please describe the issue in detail.

When I start the odometer, the X, Y, and Z values are extremely high and unstable, bouncing around between -5 to 5. Power cycling and re-flashing the OpenCR board have not resolved the issue, and I'm unsure why this problem is occurring. However, after moving the robot a short distance using roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch, the odometer values return to normal.