Notice

Overview

The current calibration accounts for the following two factors:

• The gyros installed in the robot are relatively cheap and do not have exactly the same properties. There has been observed about a 10% difference in the linear rates reported by different units tested.
• The odometry is affected by the floor surface. Between common livingroom carpet and linoleum floors at 10% difference in reporting has also been observed.

There are more areas to improve:

• compensating for linear distance on different carpets
• an effect of the traveling velocity on the odometry has also been observed, with a larger error at mid-range speeds.

Use

To use this package please follow the Tutorial