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what kind of wheel encoder for vehicle supporting ROS?

asked 2018-09-12 21:04:14 -0500

wings0728
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I need a wheel encoder for automatic drive car but I can`t find any product supporting ROS... Who can recommend one?

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Any encoder should do, you just need to track the ticks to calculate velocity and publish that as a Twist message

stevemacenski ( 2018-09-12 21:12:12 -0500 )edit

publish that as a Twist message

Not an expert, but aren't Twists typically for command input, not for state feedback?

Wouldn't Odom be better in this case?

gvdhoorn ( 2018-09-13 01:06:14 -0500 )edit

Agreed, you are correct. A nav_msgs/Odometry message is perfect. You can integrate ticks for the position part of the message and the velocity estimation for the velocity section.

stevemacenski ( 2018-09-13 12:35:46 -0500 )edit

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answered 2018-09-13 08:29:17 -0500

Muskman
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You can use the HighSpeed PhidgetEncoder along with the phidgets_drivers package. You could also write a small node for any general encoder that sends data to a serial port of the computer, refer to this answer for more details.

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Asked: 2018-09-12 21:04:14 -0500

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Last updated: Sep 13 '18

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what kind of wheel encoder for vehicle supporting ROS?