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The Tim has an Ethernet Interface so you can communicate direct with the Sensor from the ROS PC.

So Ros Can Generatate the Map.

The you need a Kinematic description of you vehicle (Differentialdrive, Akermann, Mecanum, Omi...):

Asume you have an : And now Is you Turn to Code: For the Embedded PC you write a simple Programm which sends the Encoder values and receives wheel velocities comands.

On the Ros PC you program the counterpart ROS-Node (Read Encode Write Position) and with the Kinematic description you can Publish "Odom MSGs" and Subscribe the "cmd_val" Topic and send the content to your Embedded PC