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Generate odom from command velocity

asked 2015-12-10 05:26:35 -0500

solosito gravatar image

updated 2015-12-10 05:28:36 -0500

Hello,

I modified a RC car (a big one) for driving it. Nowadays I made my own controller for sending the data to the car so now I'm able to teleoperate it and I have mounted on it a kinect so now I'm able to receive the image from it.

Right now I want to navigate with it using AMCL (I already have a map made with the turtlebot) but the problem is that I don't have any odometry so I'm thinking about generate my own one transforming the cmd_vel into odom msg

I don't have any idea about where I should start from. Do you have any idea?

Thanks you in advance.

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Yes, I already knew that, but at the moment is the only way that I have for doing it. Anyway, thank you for your help, I'm gonna continue looking into it.

solosito gravatar image solosito  ( 2015-12-10 05:52:07 -0500 )edit

Look at the "Hector SLAM" package, that allows you to do visual odometry and navigation

mkhansen gravatar image mkhansen  ( 2015-12-10 10:02:00 -0500 )edit

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answered 2015-12-10 05:33:58 -0500

mohsen1989m gravatar image

If you are able to send commands, you can use the commands to create your odometry. Although, in this way you do not consider dynamic of your system. Hopefully amcl compensate for it...

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answered 2015-12-10 11:47:50 -0500

solosito gravatar image

updated 2015-12-10 11:48:52 -0500

I'm already publishing my own odometry from the velocity command and publishing it, now the problem is generating the tf between the map and the odom. Is it generated by AMCL or should I do it?

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Asked: 2015-12-10 05:26:35 -0500

Seen: 438 times

Last updated: Dec 10 '15