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
add odometer noise
Re: add odometer noise
This will depend on your noise model. Simply modify your sensor data before publishing it via ROS. e.g:
Cheers
Code: Select all
local noiseData=noiselessData*(1+math.random()*noiseAmplitude)+noiseOffset
Re: add odometer noise
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.