Odometry readjustement #28
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The idea is to re-adjust odometry considering the stamp of the adjust odometry tf given in the callback
In fact there is a little error at each stage that amplifies slowly, but we can get rid of it by manipulating troncated double. A precision of about a millimeter is still remaining which is acceptable.
PhileasL
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Feb 7, 2021
| @@ -10,6 +10,7 @@ | |||
| #include <webots/PositionSensor.hpp> | |||
| #endif | |||
| #include "std_srvs/srv/set_bool.hpp" | |||
| #include "std_srvs/srv/trigger.hpp" | |||
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Yeah, i forget to remove that
PhileasL
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Idea
The idea is to give to drive the real position of the robot at a given stamp. The goal for drive is to set odom_pose_ with this information.
Problem:
The position given is obviously from the past.
Solution:
Observations
The goal of this method isn't to perfectly re-adjust the odometry, but to reduce the error of the odometry between the last re-adjustment and the nearest stored tf from the stamp of the given TransformStamped.
This can re-adjust odometry up to 0.75s from the past.