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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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
System boundary
Trace only the relevant path.
physical wheel geometryencoder conversionodometry integration
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.
Verification
Your repair must pass more than the visible symptom.
- 10 m error below 1%
- Full-turn error below 2 degrees
- Hidden regression behavior
- Root cause explanation