ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

wheel odometry and laser_scan_matcher

asked 2016-01-25 09:40:20 -0600

osmancns gravatar image

Hello . I am using ros_arduino_bridge.

Can I connect directly the ouput of ros_arduino_bridge (odom message) to laser_scan_matcher ( ) ???

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2016-01-26 08:59:32 -0600

Pi Robot gravatar image

Assuming you have a supported motor controller and encoder interface, the ros_arduino_bridge package publishes wheel odometry data on the /odom topic. Since the laser_scan_matcher has the option of subscribing to the /odom topic to augment the laser scan matching, then the answer is "yes".

edit flag offensive delete link more


then, no need doing about covariance calculating for output of ros_arduino_bridge , isnt it ?

osmancns gravatar image osmancns  ( 2016-01-26 09:24:59 -0600 )edit

The ros_arduino_bridge package does not publish covariance values. I don't know if laser_scan_matcher requires covariance when subscribing to /odom.

Pi Robot gravatar image Pi Robot  ( 2016-01-27 18:18:12 -0600 )edit

I am sorry but I do not know about covariance. you think does it (below link) requires covariance ?

osmancns gravatar image osmancns  ( 2016-01-28 03:01:50 -0600 )edit

Looking at the code at , it does not look like wheel odometry covariance is used. However, perhaps someone else on the forum knows for sure.

Pi Robot gravatar image Pi Robot  ( 2016-01-28 17:57:20 -0600 )edit

Hi, howw did you connect the output of the ros_arduino_bridge to the laser scan matcher? Thanks @osmancns

femitof gravatar image femitof  ( 2020-04-05 23:20:22 -0600 )edit

Question Tools

1 follower


Asked: 2016-01-25 09:40:20 -0600

Seen: 538 times

Last updated: Jan 26 '16