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Turtlebot2 Square-Path demo


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 “” 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 :wink: