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== Notice ==

||<#FFFF00> Turtlebot Calibration is used for iRobot create base TurtleBot gyro calibration. Kobuki base does not need any gyro calibration. ||


== Overview ==

The current calibration accounts for the following two factors:
 * The gyros installed in the robot are relatively cheap and do not have exactly the same properties.  There has been observed about a 10% difference in the linear rates reported by different units tested.  
 * The odometry is affected by the floor surface.  Between common livingroom carpet and linoleum floors at 10% difference in reporting has also been observed.  

There are more areas to improve:
 * compensating for linear distance on different carpets
 * an effect of the traveling velocity on the odometry has also been observed, with a larger error at mid-range speeds.  

== Use ==
To use this package please follow the [[/Tutorials/Calibrate Odometry and Gyro|Tutorial]]


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