Sean Verret wrote:
> 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...
In some sense, pretending that the AT has two wheels is correct, since the real
AT only has two odometers, one for each side. It's like a two-wheeled robot
whose tires have very bad traction.
However, it might be useful if Gazebo had a "perfect position reporting" switch
(like Stage), in case realistic odometry simulation is for whatever reason not
important for a particular situation.
Reed
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