hardware interface odometry

edit

I'm getting a bit confused about the odometry when using a hardware_interface with diff_drive_controller

In the hardware interface i'm reading the wheel encoder data and update the joint position & velocity of the wheels. When i'm looking at the published topics i have ampru_velocity_controller/odom which seem to publish some data when driving the robot.

But when i look in rviz, the odom always remains at the start position. I already tried to remap the ampru_vecolicity_controller/odom to odom, but this does not make any difference.

So how can i get correct odometry data being publisher to see the odom tf move in rviz?

Edit:

I have tried this, but seems to make no difference.

ampru_joint_publisher:
    type                      : "joint_state_controller/JointStateController"
    publish_rate              : 50

ampru_velocity_controller:
    type                      : "diff_drive_controller/DiffDriveController"
    publish_rate              : 50
    left_wheel                : 'front_left_wheel_joint'
    right_wheel               : 'front_right_wheel_joint'
    pose_covariance_diagonal  : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
    twist_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]

# Velocity commands timeout
cmd_vel_timeout: 0.25

# Base frame_id
base_frame_id: base_link

# Odometry fused with IMU is published by robot_localization, so
# no need to publish a TF based on encoders alone.
enable_odom_tf: true

# Velocity and acceleration limits
linear:
    x:
        has_velocity_limits     : true
        max_velocity            : 2.0  # m/s
        has_acceleration_limits : true
        max_acceleration        : 20.0 # m/s^2
angular:
    z:
        has_velocity_limits     : true
        max_velocity            : 4.0  # rad/s
        has_acceleration_limits : true
        max_acceleration        : 25.0 # rad/s^2

So maybe there is something wrong with setting the joint state?

    auto wheelEncoderData = (WheelEncoderData*)_serialPort.waitMessage(WheelEncoderData::MESSAGE_TYPE, 1.0);
    if (wheelEncoderData != NULL)
    {
        double distance_left = (wheelEncoderData->getLeftPulses() * ((_wheel_diameter * M_PI) / _wheel_encoder_pulses));
        double distance_right = (wheelEncoderData->getRightPulses() * ((_wheel_diameter * M_PI) / _wheel_encoder_pulses));

        _pos[0] += linearToAngular(distance_left);
        _vel[0] += linearToAngular(distance_left / period.toSec());
        _pos[1] += linearToAngular(distance_right);
        _vel[1] += linearToAngular(distance_right / period.toSec());
    }

Full code: https://github.com/DeborggraeveR/ampru