CoppeliaSim forums

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

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

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.