Publishing Odom and tf information from Arduino

asked 2016-12-29 02:03:50 -0500

kartikmadhira1 gravatar image

I'm using an Arduino as my controller for getting the encoder ticks. This way I'm calculating the Vx , Vy(=0, since it's is a non-holonomic robot) and omega_r using the kinematics of differential robots as stated in an answer here

I'm going through the navigation stack on odometry and I have the following questions to ask:

  1. Do I have to calculate the odometry information from Arduino and directly publish it to the odom topic? Or,
  2. Make a node to subscribe to the messages published by the Arduino, and then publish both nav_msgs/odometry and transform data over ROS?
  3. Make a node to subscribe to the messages published by the Arduino, and then publish both nav_msgs/odometry and transform data over ROS?
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It seem like we're working in similar project, can you give me any account you have to discuss the project in the future ..? sorry to say this here ..

jafar_abdi gravatar imagejafar_abdi ( 2016-12-29 05:10:07 -0500 )edit
kartikmadhira1 gravatar imagekartikmadhira1 ( 2016-12-29 05:23:13 -0500 )edit