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I have got an arduino connected to my robot that reads the encoder and controls the motors.
What would be better, calculating odometry on arduino and publishing the odometry message to ROS on my Laptop?
Or publishing the encoder ticks to ROS and publishing the odometry messages after processing from Laptop?
In most cases it's better to count the ticks on the arduino and sending the integrated values over ROS topics.
Counting encoder ticks is something which microcontrollers are quite good at.
At maximum wheel speed how many encoder ticks do to expect per second? I suspect that you have no choice but to process them in the Arduino because you can't send ROS messages that fast.
The first answer above mentions integrating the ticks. A good solution is to periodically send collected ticks in a message such as number of ticks for left and right wheel in the last 100ms. Taking small number of ticks out of order will not significantly effect your overall odometry.
Asked: 2014-12-06 12:28:17 -0500
Seen: 1,205 times
Last updated: Dec 07 '14
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I want to do the same thing too. Could you please share the arduino and python code (ros code) about this topic.