Calibrating turtlebot odometry without gyro/imu

Question

I am using the turtlebot stack to control my Irobot Create + Kinect, but currently do not have a gyro. However, I would like to calibrate the odometry from the Icreate encoders. The turtlebot calibrate routine however requires an imu present: I keep getting the error "Still waiting for imu" when trying to run the calibration routine.

Does anyone know a way to calibrate the Irobot Create odometry without needing the imu present? I've looked into the code of calibrate.py a bit and do not see an easy way of removing the imu dependency..

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Originally posted by Marco on ROS Answers with karma: 77 on 2011-08-10

Post score: 0

Answer 1

This is a good point.. I have created a ticket (https://kforge.ros.org/turtlebot/trac/ticket/52) to make this possible. In the future it will check the has_gyro param. I'll try and get to it this week.

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Originally posted by mmwise with karma: 8372 on 2011-08-10

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by mmwise on 2011-09-24:
released in diamondback and electric! turtlebot_apps 0.1.14 and 0.2.1

Comment by mmwise on 2011-09-11:
worked on it this weekend, I think I have a working solution I still need to test it before I push it out but I hope to have it out in the next stable release

Comment by Marco on 2011-09-08:
Great, thx! I'll check back next week.

Comment by mmwise on 2011-09-08:
Sorry Marco, I haven't had time, but I will make time this weekend.

Comment by Marco on 2011-09-07:
Any progress on this?

Comment by Marco on 2011-08-15:
Great! I hope you'll be able to fix this.