Odometry's uncertainty, propagated live
Your cov_odom.py on a simulated TurtleBot: every step adds wheel noise to P, and the 2σ ellipse grows.
Starting Python and NumPy in the browser. The first time takes a few seconds.
Drive
Uncertainty
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EECE 5550 Mobile Robotics
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The Python behind the demo
The page imports cov_odom.py as it is: step() propagates P, and ellipse_points() draws the 2σ ellipse.
Run the script's own self-test, exactly as on your Mac:
$ python3 cov_odom.py --selftest
Each tick of the drive calls this, from the page's small driver:
EECE 5550 Mobile Robotics
2