Check if an odometry calibration is needed

[eborghi10]

• Odometry Calibration by Least Squares

Turtlebot (with Create base) calibration

• ROS package used: turtlebot_calibration

• TutorialCreate Odometry and Gyro Calibration

• The tutorial executes this launch file

• But the video refers to this file

• Look how this code uses the gyro.

• How is the gyro fused with the wheel odometry now?

• UMBmark calibration method

• Where am I?

• Visualize elipsoid with RTEllipsoidFit.m

• Calibrate IMU with RTIMULib

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• Working branches:
  • robot_calibration
  • Wheel odometry mismatches, libcreate changes

TODO:

• Test it with the real robot
• Address changes that were written in the code
• Wheel odometry doesn't report the correct body velocity