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The odometry information should be published by the ROS driver for your mobile robot base. Usually, the robot sends encoder ticks via serial or whatever, and the ROS driver then computes the odometry message (i.e., pose and twist; see the link by @stevejp). The formula how to compute the ROS odometry message from encoder ticks depends on your kinematics.
https://github.com/ros-controls/ros_c...
ROS wheel odometry is based on the linear and angular velocity(s) of the platform. You just need to find those values for your 3 wheeled car. For 2 wheeled, the calculations are very simple. I assume if you've made a 3 wheel car then you have some complex controller which you're already feeding that into.
You just need to publish those values in the message with an appropriate covariance and you should be on your way.
Odometry is not directly just encoder ticks, its the speed and / or pose of the robot given the ticks.
Asked: 2018-07-24 07:27:17 -0500
Seen: 484 times
Last updated: Jul 24 '18
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Could you link the stack/package you are looking at?
Is this what you're looking for?
Actually I'm looking for how to acquire odometer data from motor encoders. I need to know what exactly I have to publish from encoders.