TurtleBot's odometry

In this section, we explore the TurtleBot's odometry. The general definition of odometry is the use of data from motion sensors, such as wheel encoders, to estimate change in Turtlebot's position over time. Odometry is used by the TurtleBot to estimate its position and orientation relative to its starting location given in terms of an x and y position and an orientation around the z (upward) axis as the TurtleBot moves.

The odometry data to determine position and orientation can become very inaccurate as the TurtleBot moves a long distance. The inaccuracy can be due to errors in the robot's parameters such as incorrect wheel diameters used in calculation of distance or due to the uneven driving surfaces causing the wheel encoders ...

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