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Wheel encoders will produce relative positron estimates, so you want to convert the rear values into geometry_msgs/TwistWithCovarianceStamped messages describing the angular and linear velocity of your robot. You will be able to calculate these knowing the geometry of the robot (diameter of the wheels and the distance between them).

The covariance values don't need to be calculated but you will at least need to put in constant values which are fairly realistic for the robot_localization package to work properly.

Once you have these twist messages being produced properly you can feed then directly into the robot_localization package.