[ros-users] [Discourse.ros.org] [TurtleBot] ROS Teleop package

Eduardo ros.discourse at gmail.com
Tue Jun 12 09:23:35 UTC 2018

Well, in any case, he is not using a Turtlebot 2 or 3. He is developing his own controller with an Arduino board... The easiest way of doing it is to count the ticks on the odometry (https://en.wikipedia.org/wiki/Odometry). If you actuate over the motor to make the number of ticks on the left wheel equal to the ones on the right wheel your robot will "go straight*".

If you have servo motors, control the speed is just give them the correct input. But if you pay attention to the differences on the odometry your system will be more robust.
If you do not have servo motors, you will need the odometry to close the speed loop on the controller. But again, pay attention to the differential odometry will increase your performance.

*I said "go straight" because this system is easy, but far away from being perfect. Imagine that the weight of your robot is unbalanced to the left side. If you have soft wheels, the one on the left will deform more than the one of the right. Thus his radius will be smaller, and each tick of the odometry will be a movement slightly smaller on that wheel. After some distance, you will see your robot slightly turning.

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