Incorrect odom readings - angular velocity works fine, linear always shows 0 on x,y and z about turtlebot3 HOT 4 OPEN

Hi,

The OpenCR provides the odom calculation based on the encoder readings from both DYNAMIXEL.
If you have modified DYNAMIXEL to different model other than X 430 series (XL / XM / XH 430), the OpenCR firmware may not support the correct calculation. (TB3 burger uses XL430-W by default)

If you already have created a map using teleop + Cartographer on RViz, your DYNAMIXEL should have no problem as they have correctly calculated odom to create a map.

In case you are running multiple teleop or using a remote controller like ps4, this may cause unexpected behavior as multiple cmd_vel topic can collide.

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hello @ROBOTIS-Will, thank you for your answer. I am using dynamixel model XM430-W210-R. I guess it is the default model for TTB3 Waffle.

The map was created but it was a struggle. In my opinion the robot only used Amcl (if it is using it in this case). When I try to navigate on this map - the robot is moving forward and backwards (on the floor), but there is no movement in rviz. When i try to rotate robot it rotates on the floor and the rotation is visible and correct in Rviz.

I started with a simple case - just map creation, teleop and slam, as it is in the official tutorial.

Maybe I should check the raw data from encoders? Could you give me some tips how to do it?

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If the rotation is correctly performed and visualized on the RViz, encoders seem working fine.
Does the Lidar sensor correctly appears on the RViz during the navigation?

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It looks like everything is fine with lidar - the readings from it are fine. I wonder why in /odom topic the linear velocity never changes while the angular velocity works well. Do you have any idea why is that? Or is it just "by design"?

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