Finding RPM of a wheel in differential drive simulation

asked 2019-05-01 08:06:33 -0500

aniket0112 gravatar image

I want to find RPM of the wheels for a differential drive model simulating in ROS + Gazebo. I am using diff_drive_controller package for controlling the model. I think I can use /tf topic to get information about wheel link w.r.t to base link and get angle of the wheel at every time instance. Please help me if there is some better way to do it or how to use /tf for this.

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