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publish odometry code

asked 2014-10-14 03:10:09 -0500

mohammad gravatar image

hi everyone

I have two arduino uno boards and i need to connect my encoders to each of them. I have two encoder and i dont want to use shield for them. I use rosserial stack to connect my laptop to arduino. Now i need a code to publish my odometry over ROS which consists of some transitions for use datas on gmapping package (like velocities). Does anyone know a good code?

Thanks too much :))

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answered 2014-10-14 16:11:18 -0500

ahendrix gravatar image

You might want to take a look at the differential_drive package.

I haven't used it myself, but it appears to take encoder readings and convert them to odometry and TF messages, and also provides a node to take standard Twist messages and convert them into individual motor commands.

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Asked: 2014-10-14 03:10:09 -0500

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Last updated: Oct 14 '14