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How to increase the noise of odom topics released by gazebo?

asked 2022-11-18 20:31:21 -0600

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I use turbobot3 gazebo to run the SLAM algorithm. I want to evaluate the SLAM algorithm by adding the noise of odom topic. I want to know how to add the noise of odom topic in gazebo9

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answered 2022-11-21 03:04:00 -0600

Bracky gravatar image

Simply create a node that subscribes to you odometry topic, add noise on your data and republish them to another topic. It's up to you to choose the topics names regarding the rest of your setup.

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You can also add it to your sensor modele e.g <sensor type="ray" name="sensor"> <pose>0 0 -0.004645 1.5707 0 0</pose> <visualize>true</visualize> <ray> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.1</stddev> </noise>

Bracky gravatar imageBracky ( 2022-11-21 03:18:22 -0600 )edit
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Asked: 2022-11-18 20:31:21 -0600

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Last updated: Nov 21