tailosinc/navigation

ROS Navigation stack. Only using AMCL currently.

navigation's Issues

Customize all aspects of the Rosie odom model

In addition to adding rotation noise due to strafing (addressed in #1), we should also:

• Bias sampling when it comes to translation noise from translation. The robot will always be moving slower compared to what odometry says, never faster 💡
• ...

Add custom odom model for Rosie

TODO

• Start with code for ODOM_MODEL_OMNI_CORRECTED
• Separate translational velocity into vx and vy
• Calculate amount of strafing distance and direction in body frame
• Understand this: delta_strafe_hat = 0 + pf_ran_gaussian(strafe_hat_stddev);
  • Why is the mean 0 and not delta_trans or something similar?
• Possibly add new parameter, alpha6 (rotation noise when strafing)
• Bias random sampling when it comes to strafing
• Update ROS API with new param, odom_alpha6
• Test in simulation - Looks promising, but hard to tell
• Test on actual robot
  • Looks promising. But tuning depends heavily on brush and carpet.