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Made URDF File whats next? [closed]

asked 2015-04-23 01:28:07 -0500

felixwatzlawik gravatar image

Hello People,

I am trying to control a robot with ROS. ROS is running on Ubuntu and I want to send the Data through UDP to my Motors, I got a predefined interface there and have to send m/s and rad/s through udp.

Now I created my URDF file but how can I input odometry data and stuff? I have no idea what to do next`?

thanks in adavance

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Closed for the following reason the question is answered, right answer was accepted by felixwatzlawik
close date 2015-05-04 05:26:40.921493

1 Answer

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answered 2015-04-23 07:15:51 -0500

updated 2015-04-23 07:41:04 -0500

Assuming a two wheel robot (differential drive robot), i would:

  • Make a node which sends data to your motor control and receives encoder data.

  • use geometry_msgs::Twist topic for speed input. linear.x for forward, angular.z for turning (others unused)

  • Calculate speeds and position starting from start position-> odometry and publish to /odom (nav_msgs::Odometry)

  • publish TF from base_link to odometry.

Hint: checkout gazebo plugins for diff drive for odometry calculations...



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Asked: 2015-04-23 01:28:07 -0500

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Last updated: Apr 23 '15