Robotics Stack Exchange
Robotics Stack Exchange

Questions tagged [odometry]

Odometry is the use of data from moving sensors to estimate change in position over time.

Odometry is used by some robots, whether they be legged or wheeled, to estimate (not determine) their position relative to a starting location. This method is sensitive to errors due to the integration of velocity measurements over time to give position estimates. Rapid and accurate data collection, equipment calibration, and processing are required in most cases for odometry to be used effectively.

-From Wikipedia

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How can I calculate odometry given two poses?

I have the pose at times t - 1 and time t. We are given: that the the new pose, at time t, is $$x_{t - 1} = [0,0,pi/6]$$ $$x_{t} = [0.2,0.1,(11*pi)/60]$$ (Where the vectors are [x, y, theta] with respect to some world frame.) In my head, I have…
BigBen
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Which are the Euler and Runge-Kutta odometry formulas for a four mecanum wheels omnidirectional robot?

I have a omnidirectional robot with four mecanum wheels and I have computed its linear and angular velocities starting from wheel speeds expressed in ticks. Now, to compute odometry, I have to integrate with Euler and Runge-Kutta methods, but I…
Ross
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Set Odometry and SetModelState

For repeated tests, I want to move my robot back to (0,0). I've been using SetModelState, but that does not reset the odometry. Is there a way to reset the odometry easily? I found LAYER_POSITION2D_REQ_SET_ODOM here but it's unclear how to use it…
DLu
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ROS 2 encoder data how to collect and publish

I am working on building a mobile robot in ROS2 on the Jetson nano i have 2 i2c mini encoders that i can get their ticks using a python code and library. How would i go about publishing and processing this data so it can be used along side an IMU…
Charlie
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