Could I record the encoder data of the Turtlebot without the help of "odom topic " ?

asked 2015-01-12 07:22:33 -0600

tanghz gravatar image

Sorry to disturb everyone! But I really can't find any useful means.

I want to get and record the encoder data from the kobuki platform directly instead of running a node to receive them from the Odom Topic.

However, I have been trying since several days ago, and till now I have no any ideas. The reason I do this is, well, It is a long story.

Many days ago, I buyed a cheap laser lidar which named RPLidar, I wanted to use it replace the kinect while gmapping, as I think I will get a better map using the RPLidar. However, to my surprise, the map I get is so blurried! I have tried any method I could think, well, nothing helped me.

Of course, there is another way to build a map, Hector Mapping, I have tried the Hector Mapping + RPLidar and I really get a good map. But, my teacher wants me to realize Gmapping + RPLidar, and, well, he told me recording all the data that Gmapping needs, and then try the original Gmapping which is not the Gmapping that ROS gives us......

edit retag flag offensive close merge delete