what kind of wheel encoder for vehicle supporting ROS?
I need a wheel encoder for automatic drive car but I can`t find any product supporting ROS... Who can recommend one?
ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
I need a wheel encoder for automatic drive car but I can`t find any product supporting ROS... Who can recommend one?
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.
Asked: 2018-09-12 21:04:14 -0500
Seen: 131 times
Last updated: Sep 13 '18
Any encoder should do, you just need to track the ticks to calculate velocity and publish that as a Twist message
Not an expert, but aren't
Twist
s typically for command input, not for state feedback?Wouldn't
Odom
be better in this case?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.