How to get Twist from rtabmap rgbd_odometry for use with move_base
Hello,
I am using rtabmap rgbd_odometry to get odometry for my robot and now want to make use of move_base to get cmd_vel
commands. When I receive the velocity commands though, I'll need to make sure my motor controller follows the command sent by move_base using a control loop which means I need information on the sensed Twist of the robot. But in the odometry message from rgbd_odometry, there is only position data (from what I've gathered, this is so because rtabmap does not require Twist to work).
Is there any option to turn on Twist calculation in rgbd_odometry or should I calculate this myself based on the position data (dx/dt, dy/dt and dtheta/dt)?
Also, doesn't move_base require Twist in the odometry message to properly calculate the cmd_vel
?