introlab
odom drift while mapping using rtabmap using 3d lidar
because of the mechancal design, i have a steering bias in my tricycle model, when i drive staright, the robot veers off, as soon as it veers off, the map drifts, attaching the screenshot here
to correct thi stseering bias using software, i am using imu data, now with corrected odom, the robot when driven straight moves straight, but with every steering correction map gets curved, attaching here the screenshot, red is raw odom, green is corrected odom
how do I fix this? I am not using ekf yet to fuse imu and wheel odom, just correcting steering for now, I had tried ros ekf but there was ekf rate error
Di you try robot_localization package? I would refer to them or Robotics Exchange to get help about that. If you have more rtabmap specific questions, I could try to help you.
