Re: Problem with setting robot's position

Rich Mattes-2 wrote:

On 7/25/2011 6:01 AM, Simone Gaiera wrote:
> Hi I wanna report another big problem...when I use Stage and i do getxpos()
> if x=1 is one meter but when I use the same with the real world x=1 is 10
> meter so 0.1 is one meter.
>
> I use a roomba500 and obviously I have a big lag to the positions...you
> think there is a way to reduce this lag, that does not improve significantly
> either by lowering the speed?
>
>
>
I don't think it's lag from reading the roomba's measurements too
slowly, I think the measurements coming back from the roomba are just
off.  I was playing with my roomba 530 yesterday, it looks like the
odometry is off by a factor of -10 (from observation).  Multiplying the
distances by that amount seems to give somewhat realistic results.  The
angle measurements are also off I think, I couldn't hammer down how much
though.  The way the roomba works, when you request a distance or angle
measurement, it gives you the distance or angle since the last request.  
You never lose any information by polling it too slowly, unless you wait
too long and let the counter overflow, or you make small maneuvers that
cancel each other out between requests.

Rich

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