Odometry noise
This modifier allows to simulate two common issues when calculating odometry :
- an error in the scale factor used to compute the distance from the value
returned by the odometer (parameter factor)
- the gyroscope natural drift (parameter gyro_drift (rad by tick))
Files
- Python: $MORSE_ROOT/src/morse/modifiers/odometry_noise.py
Modified data
The modifier only accumulate errors for a 2D odometry sensor. It modifies so
the following variables :
- dS by the scale factor
- dx considering the scale factor and gyroscope drift
- dy considering the scale factor and gyroscope drift
- dyaw considering the gyroscope drift
- x considering the scale factor and gyroscope drift
- y considering the scale factor and gyroscope drift
- yaw considering the gyroscope drift
- vx considering the new dx
- vy considering the new dy
- wz considering the new dyaw
Available methods
- noisify: Simulate drift of gyroscope and possible error in the scale
factor