ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
I have the feeling that you misunderstood, what odometry means.
Check out the Wikipedia article.
You don't publish the encoder data to nav_msgs/Odometry
.
You need to compute the current cartesian velocity (and also the current position estimate based on the velocity) based on the encoder readings. For this, you'll need to create a model of your robot that let's you compute this. Typical odometry models (corresponding to the kinematics) are differential, omni-directional, tricycle.
In ROS, there exist different base_controllers
or base_drivers
, that actually do this. Search a bit around to see how this is done therein.
2 | No.2 Revision |
I have the feeling that you misunderstood, what odometry means.
Check out the Wikipedia article.
You don't publish the encoder data to nav_msgs/Odometry
.
You need to compute the current cartesian velocity (and also the current position estimate based on the velocity) based on the encoder readings. For this, you'll need to create a model of your robot that let's you compute this. Typical odometry models (corresponding to the kinematics) are differential, omni-directional, tricycle.
In ROS, there exist different base_controllers
or base_drivers
, that actually do this. Search a bit around to see how this is done therein.therein.
Also, have a look at this Tutorial.