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

[dlwlrma1516]

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.

   

   

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.