No position odometry on the real turtlebot3?

Course Support ROS Basics In 5 Days (Python)
1

Hi! I’m currently working on ROS Basics Real Robot Project (I’m finishing ROS Basics in 5 days to get the certificate). Everything is working well, except the odometry. I get yaw angular information from the robot, but all positional information (both pose and twist) is 0. Part 3 of the project is to create an action that records (x, y, theta) odometry readings and compute as feedback the total movement so far. However, I can’t do that without positional information.

For example, here is one output I get:

header:
  seq: 8957
  stamp:
    secs: 1634487204
    nsecs: 434772117
  frame_id: "odom"
child_frame_id: "base_footprint"
pose:
  pose:
    position:
      x: 0.0
      y: 0.0
      z: 0.0
    orientation:
      x: 0.0
      y: 0.0
      z: 0.9667192697525024
      w: -0.2558395266532898
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
  twist:
    linear:
      x: 0.0
      y: 0.0
      z: 0.0
    angular:
      x: 0.0
      y: 0.0
      z: 0.0015856727259233594
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

Naturally, I was moving the robot using the gamepad at the same time, while looking at rqt_plot: no movement. Any idea what I should do from here?

2

Hi,

This is a hardware problem we are having, I’ve also answered your email with the explanation. Please, let me know when you are using it so I can provide a temporary solution.