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Calibrating the robot RC

Description: This tutorial explains how to calibrate the robot RC (Remote Control)

Tutorial Level: BEGINNER

Next Tutorial: Launch and control multiple robots from a remote machine

To calibrate the RC: ric_robot/ric_calib service is used to enter calibration mode and saving the data. The com field in the service request can range from 11 to 14 as follows:

com=11 – Enter calibration mode.

com=12 – Save current calibration data.

com=13 – Cancel current calibration process.

com=14 – Print calibration data.

To start calibration for Komodo 1 robot, turn on the rover and launch the main komodo.launch file, turn on the remote control and run:

$ rosservice call /komodo_1/ric_calib "com: 11"

After entering calibration mode, move the driving stick all over its range.

You are done when the prints on the screen stop changing, now move the stick to the center and send com=12 request to save the data:

$ rosservice call /komodo_1/ric_calib "com: 12"

If something went wrong, just send com=13 request to discard the data. The calibration data is stored in the EEPROM.

Wiki: ric_robot/Tutorials/Calibrating the robot RC (last edited 2015-06-08 09:05:08 by yamgeva)