The Turtlebot2 User Guide, on page 18, show how the TB2 drives a really nice-looking square, with fairly small error.
Is the code to make it drive that square available? Otherwise I’ll write my own, but it would be good to have such a nice baseline.
btw, I did check out “motion_square.py” from the kobuki_testsuite. It doesn’t look anything like that square. Firstly, it drives round corners, and secondly, it exhibits major angular error. After one square, my TB2 is already about 45° off. Actually, looking at the code, I’m not really surprised – at the speed it’s driving, the low odometry rate is really going to hurt. But I was willing to give it the benefit of doubt