v2024.12.31

Updated chapter on calibration

Preview of Calibration chapter

In book/chapters/calibrating_odom.md is a new preview of the chapter on calibrating odometry for the robot. This involves finding the actual, effective wheel diameter and wheel separation by moving the robot in a controlled manner, measuring the published odometry and measuring the actual movement of the robot. The error between the published odometry and the measured change in pose is used to update the wheel odometery and wheel separation.

As an aid, a LibreOffic Calc file in included in book/media/CalibratingRotation.ods to be used as described in the chapter.

Your constructive feedback is appreciated.