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    • CommentAuthoritchadi
    • CommentTimeSep 29th 2013
    hi all here we back again with a new problem,

    using the odometry data specially " Bicocca_2009-02-25b-ODOMETRY_XYT" i want to find the X Y Teta mentioned in the "Bicocca_2009-02-25b-ODOMETRY_XYT" data ( column 5,6,7) using the odometry model or velocity model so i am obliged to use the ticks count ( column 3 4) in this files but i dont find the same result ' X Y T' contained in the files what i have to do ?

    please help
    • CommentAuthorforumadmin
    • CommentTimeOct 11th 2013 edited
    Did you read the project's documents, the FAQs and all the files associated to the specific dataset you are using? Perhaps the parameters of your cinematic model (or the model) are not right.
    (BTW, please do not spam the forum with duplicate posts and/or discussions.)
    • CommentAuthorkvarme
    • CommentTimeNov 22nd 2013

    I have also a problem to exploit the odometry data of the dataset "Bovisa_2008-10-04". I didn't find the encoder resolution. So, what is this resolution (number of ticks for one turn of the wheel) ?
    or what is the traveled distance for one tick ?

    What model do you use to characterize the robocom robot (tank) ?

    Thank you
    • CommentAuthorforumadmin
    • CommentTimeNov 26th 2013
    Hello. Rawseeds datasets do not include encoder tick data; instead, they include odometry data, directly providing the pose of the robot (x, y, theta). You can find the specs for such data in Deliverable D2.2 (for outdoor and mixed datasets, such as the Bovisa ones) or D1.1 (for indoor datasets).
    • CommentAuthorkvarme
    • CommentTimeNov 27th 2013
    Thank you for your answer but unless I am mistaken, here the fields of odometry data file :
    - Timestamp [seconds.microseconds]
    - Rolling counter [signed 16bit integer]
    - TicksLeftWheel (raw data) [ticks]
    - TicksRightWheel (raw data) [ticks]
    - X [m]
    - Y [m]
    - Theta [rad]

    and the third and fourth columns show TicksLeftWheel et TicksRightWheel data.

    So, for us, it's easier to use the thick data (with encoder resolution) rather than the given x, y data, theta.