# turtlebot/ kobuki raw encoder readings

hi guys,

I am attempting to write a odom node which needs to subscribe to a topic with raw encoder values. But I am not so sure which topic it is..

According to the kobuki tutorials, the kobuki base controller already publishes odometry on the /odom topic. Why do you need to reinvent the wheel and compute your own odometry? (And I can't find any topic which has the raw values either.)