add odometer noise

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lyz
Posts: 57
Joined: 07 Mar 2019, 07:34

add odometer noise

Post by lyz »

Hi to all,
I have built a scene and a robot model. Then I publish these sensors' data to ROS, and simulate the noise of the sick laser, but I have no idea how to simulate odometer noise, can someone help me?
Any suggestion is welcome
thanks

coppelia
Site Admin
Posts: 10339
Joined: 14 Dec 2012, 00:25

Re: add odometer noise

Post by coppelia »

This will depend on your noise model. Simply modify your sensor data before publishing it via ROS. e.g:

Code: Select all

local noiseData=noiselessData*(1+math.random()*noiseAmplitude)+noiseOffset
Cheers

lyz
Posts: 57
Joined: 07 Mar 2019, 07:34

Re: add odometer noise

Post by lyz »

Yes, thank you for your reply. I used to simulate the laser data like this, and the error increases with the distance. However, the odometer error generally increases with the increase of mileage drift. In this way, I think I will real-time calculate the mileage of two odometer wheels first, and then add two noises to the mileage datas of the two odometer wheels. Finally, publish odom topic.

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