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Revision history [back]

Publisher declaration: https://github.com/vanadiumlabs/arbotix_ros/blob/indigo-devel/arbotix_python/src/arbotix_python/diff_controller.py#L94

Odometry calculation and publishing to tf and topic: https://github.com/vanadiumlabs/arbotix_ros/blob/indigo-devel/arbotix_python/src/arbotix_python/diff_controller.py#L125-L173

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