Hi Solly, You are correct that when I replace the AT with a DX proper readings are given back based on the encoders and the math is similar to what Jordi wrote earlier.
However the math seems as though it could be flawed. For example, if you have a robot that is the size of the P3AT and if you have a more rectangular robot, say three or four times longer than a P3AT but still has the same wheel width between the pairs the resulting angular velocity of the robot would be much different... I'm not sure if I'm getting my point across, it's much easier to draw in pictures... Sean Solly Brown wrote: > Hi Sean, > > I believe the Pioneer 2AT uses skid steering. So when you rotate the > robot you get a certain amount of skidding. And when the wheels skid the > odometry reading doesn't change even though the robot rotates. The > upshot is that the odometry underestimates the actual rotation of the robot. > > To confirm that this is indeed what is happening just replace your > pioneer 2AT with a pioneer 2DX. > > Cheers, Solly > > Sean Verret wrote: > >> Hi there, >> >> I've been running a simple Pioneer2AT model in a world with no >> obstacles. I noticed that if you rotate the robot 360 degrees, using >> the position widget it in fact states that the robot has rotated closer >> to 470 degrees. >> >> Does anyone else have this problem? Could I be missing something in my >> world file? >> >> Thanks >> Sean >> >> Using Tomcat but need to do more? Need to support web services, security? >> Get stuff done quickly with pre-integrated technology to make your job easier >> Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo >> http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642 >> _______________________________________________ >> Playerstage-gazebo mailing list >> [email protected] >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo >> >> > > Using Tomcat but need to do more? Need to support web services, security? > Get stuff done quickly with pre-integrated technology to make your job easier > Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo > http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642 > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > -- Sean Verret Defence Scientist Autonomous Intelligent Systems Section Collective Intelligence Group DRDC Suffield e: [EMAIL PROTECTED] p: (403) 544-4712 f: (403) 544-4704 w: http://www.drdc-rddc.gc.ca Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642 _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
