Skip to content

spec.md

Latest commit

 

History

History
49 lines (33 loc) · 1.58 KB

spec.md

File metadata and controls

49 lines (33 loc) · 1.58 KB
Raw

153. Differential Drive Odometry from Encoder Pulses

Difficulty: 🟡 Medium
Category: Kinematics
Tags:
Execution Type: basic_python

💡 Why This Problem Matters

GPS doesn't work indoors. Encoders are the first line of defense for localization. Fusing this with IMU (Kalman Filter) is standard practice.

Problem Statement

Problem Statement

Calculate where the robot is (Odometry) based on how much its wheels have turned (Dead Reckoning).

Requirements

  • Node odometry_calculator
  • Subscribe: /wheel_ticks (Left/Right integers)
  • Parameters: radius (m), base_width (m), ticks_per_rev
  • Publish: /odom (nav_msgs/Odometry)

Input/Output Format

Input:

  • Wheel Encoder Ticks

Output:

  • Odometry message with Position (x,y) and Orientation (yaw/quaternion).

⚠️ Common Pitfalls

  • Integer overflow (ticks wrap around).
  • Not handling the very first tick message (delta requires previous state).

📚 Helpful Resources

Test Cases

  • IntegratesForward: x increases for forward ticks
  • HandlesWrap: no large jump on wrap

Contributing

Found an issue with this problem's description, or have a better hint?
Open a PR or report it in Discussions.

Note: TestScripts and reference solutions are maintained by the SimuCode team
and are not part of this open spec. This ensures grading integrity on simucode.online.