segway 50 XL delocalizes

[RoboEvangelist]

Hi Folks,

I have a segway 50 XL as my robot's platform.
When the robot goes backwards/forwards, it localizes quick and well. But when the robot is turning in place, it quickly de-localizes, causing the robot to move in the wrong direction when ROS tells it to go on a a straight line.
I am using the segway_rmp packages, and the libsegwayrmp. I have not modified anything on any library, but I guess I need to in order to fix the problem. Maybe I need to find a better "magic number" for the base width (I'm assuming you have a base with parameter for the odometry)??? (modifying the based with on another platform helped me solve the problem)

Thanks

[wjwwood]

For reference: http://answers.ros.org/question/203460/segway-rmp-delocalizes/

[wjwwood]

@RoboEvangelist there are some "magic" numbers which come from the manufacturer that are used to calculate the odometry:

https://github.com/segwayrmp/libsegwayrmp/blob/master/src/segwayrmp.cc#L795-L812

[piyushk]

@RoboEvangelist Take a look at #12. There seems to be some difference in these magic numbers based on 50XL firmware version, but those numbers might work for you.