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Guided beta caseProintermediateOdometry calibration

Simulation is accurate but hardware drifts

Calibrate geometry from measured travel rather than tuning localisation noise.

Pairs with Encoders, IMU, and odometry in Mobile Robot Reliability. Read the concept first, then diagnose it here.

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Operator report

A commanded 10 m straight run reports 10.8 m and a 360-degree turn reports 332 degrees.

Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot

01

System boundary

Trace only the relevant path.

3 nodes
  1. 01physical wheel geometry→
  2. 02encoder conversion→
  3. 03odometry integrationOUT
02

How this lab works

You diagnose it. No command list.

Open the repair workspace and gather your own evidence in a real terminal. No diagnostic commands are handed to you - finding the fault is the exercise. Stuck? Progressive hints unlock inside the workspace.

03

Verification

Pass more than the visible symptom.

4 checks
  • 10 m error below 1%
  • Full-turn error below 2 degrees
  • Hidden regression behavior
  • Root cause explanation