Odometry for a holonomic robot with 3 wheels

Hi,

Considering a mobile base robot with 3 omni-directional wheels, is there a ROS package that would convert motor encoder position to an odometry message (pose and twist) to feed to the navigation stack ?

Thanks!

Asked by Cyril Jourdan on 2018-11-23 09:22:12 UTC

Comments

hello, did you find something that solved your problem?

Asked by al_ca on 2020-09-25 14:12:07 UTC

Hi, I didn't find it at the time, so I wrote the code with the kinematics to get the odometry.

Asked by Cyril Jourdan on 2021-06-16 02:50:29 UTC

Answers

If you are planning to do it using only encoders. Then you can refer to it. You can use gazebo for getting odom by supplying real world data to gazebo through controllers in ros. https://youtu.be/ihuSkFIn7YU

Asked by Abhishek Ove on 2021-03-14 05:46:09 UTC