This code implements the odometry error model for a differential drive robot (TurtleBot_Burger).
Key Features:
Customizable left and right wheel speeds
Realistic error model for odometry (incorporates distance and angular errors)
User-defined covariance matrix for error tuning
Visualization of uncertainty ellipses
Functionality:
Simulates robot movement for 10 seconds with 0.1s time steps
Calculates robot position and orientation based on odometry data
Incorporates error model to account for distance and angular inaccuracies
Updates covariance matrix to represent position uncertainty
Generates uncertainty ellipses to visualize robot's position distribution (once per second)
Benefits:
Analyzes robot's position uncertainty over time
Note: Requires user-defined TurtleBot dimensions and covariance matrix adjustment for optimal results.
