How to use quadrature encoder and accelerometer data in ROS (Robot Operating System) ?

asked 2016-02-24 18:40:27 -0600

Can Kavaloglu gravatar image

Hi everyone, I'm working on a project to build the map of the floor autonomously. To be clear, I am really new at this ROS and SLAM algorithms. I just have a working robot base which uses encoders, ultrasonic, IR etc. sensors, and I want to use those sensor input data on ROS (as odometry). For instance, when map of the floor constructed, I want the robot to be able to move to the marked location (which the user gives the location on the map). To do so, I have to make sure that encoder, accelerometer, ultrasonic, and IR sensor data are used in moving process.

Honestly, I have neither a good guide nor clear mind about how to do those things using ROS. It has gotten messy when I got to begin to work with ROS so any help and guidance is appreciated :)

Note: I am using Kubuntu 14.04 with ROS Jade, and here is a link to my wheel motors and encoders:

https://www.pololu.com/product/1447

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