What package to use for navigation on phyisical robot using wheel encoders
I want to implement navigation to my physical robot using only wheel encoders.
I don't need mapping because i have a static 3x3 map. I have 2 DC motors with encoders and an Arduino and a PC, what packages do i use?
Asked by AchrafGazzeh on 2022-08-21 15:29:46 UTC
Answers
You can use differancial drive controller for wheel controls: http://wiki.ros.org/diff_drive_controller
For navigation please check this : http://wiki.ros.org/move_base
Asked by ibrahimztrk on 2022-08-22 02:31:41 UTC
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For the localization based on the odometry you can use: https://wiki.ros.org/robot_pose_ekf
You should implement the odometer as in the https://wiki.ros.org/navigation/Tutorials/RobotSetup#Odometry_Information_.28odometry_source.29
(Pr2Odometry code could be your base here)
Asked by ljaniec on 2022-08-22 06:47:09 UTC
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