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Assuming a two wheel robot (differential drive robot), i would:

Make a node which sends data to your motor control and receives encoder data. - use geometry::Twist topic for speed input. linear.x for forward, angular.z for turning (others unused) -Calculate speeds and position starting from start position-> odometry and publish to /odom (nav_msgs::Odometry) -publish TF from base_link to odometry.

Hint: checkout gazebo plugins for diff drive for odometry calculations...

Regards,

Christian

Assuming a two wheel robot (differential drive robot), i would:

Make a node which sends data to your motor control and receives encoder data. - data.

• use geometry::Twist topic for speed input. linear.x for forward, angular.z for turning (others unused) unused)

-Calculate speeds and position starting from start position-> odometry and publish to /odom (nav_msgs::Odometry) (nav_msgs::Odometry)

-publish TF from base_link to odometry.

Hint: checkout gazebo plugins for diff drive for odometry calculations...

Regards,

Christian

Assuming a two wheel robot (differential drive robot), i would:

Hint: checkout gazebo plugins for diff drive for odometry calculations...

Regards,

Christian

Assuming a two wheel robot (differential drive robot), i would:

• Make a node which sends data to your motor control and receives encoder data.

• use geometry::Twist geometry_msgs::Twist topic for speed input. linear.x for forward, angular.z for turning (others unused)

• Calculate speeds and position starting from start position-> odometry and publish to /odom (nav_msgs::Odometry)

• publish TF from base_link to odometry.

Hint: checkout gazebo plugins for diff drive for odometry calculations...

Regards,

Christian