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wheel odometry and laser_scan_matcher

asked 2016-01-25 09:40:20 -0500

osmancns gravatar image

Hello . I am using ros_arduino_bridge. https://github.com/hbrobotics/ros_ard...

Can I connect directly the ouput of ros_arduino_bridge (odom message) to laser_scan_matcher ( http://wiki.ros.org/laser_scan_matcher ) ???

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answered 2016-01-26 08:59:32 -0500

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".

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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 -0500 )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 -0500 )edit

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

https://github.com/ccny-ros-pkg/scan_...

osmancns gravatar image osmancns  ( 2016-01-28 03:01:50 -0500 )edit

Looking at the code at https://github.com/ccny-ros-pkg/scan_... , 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 -0500 )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 -0500 )edit

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Asked: 2016-01-25 09:40:20 -0500

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Last updated: Jan 26 '16