Best way to get custom mobile robot velocity? [closed]

asked 2018-11-05 21:55:24 -0600

karimemara17 gravatar image

I have a custom Mobile Robot (4 wheel differential drive robot) and have a raspberry pi running Ubuntu Mate 16.4 with ROS Kinetic and 2 encoders (right and left) connected to the pi. Also I'm using Adafruit DC motor drive and RPlidar A2 from SLAMTEC.

I'm trying to use the Navigation stack to get it to move from point A to point B, but don't really know how to provide the odometry needed for the Navigation Stack.

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Closed for the following reason Question does not follow our guidelines for questions. Please see: for more details. by karimemara17
close date 2018-11-20 20:00:44.492680


Do you have encoders on the wheels so you can measure how far they've turned? These are the sensors you need to generate proprioceptive odometry estimates.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-11-06 06:37:18 -0600 )edit

Yes I do. I have 1 encoder on each side of the robot. My problem is I don't understand what is the odometry needed for the Navigation Stack and how to get that distance from the Raspberry Pi (I'm using the GPIO on the Pi to connect the encoders to)

karimemara17 gravatar image karimemara17  ( 2018-11-06 11:33:23 -0600 )edit