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Odometry for a holonomic robot with 3 wheels

asked 2018-11-23 08:22:12 -0500

Cyril_J gravatar image


Considering a mobile base robot with 3 omni-directional wheels, is there a ROS package that would convert motor encoder position to an odometry message (pose and twist) to feed to the navigation stack ?


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hello, did you find something that solved your problem?

al_ca gravatar image al_ca  ( 2020-09-25 14:12:07 -0500 )edit

Hi, I didn't find it at the time, so I wrote the code with the kinematics to get the odometry.

Cyril_J gravatar image Cyril_J  ( 2021-06-16 02:50:29 -0500 )edit

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answered 2021-03-14 05:46:09 -0500

If you are planning to do it using only encoders. Then you can refer to it. You can use gazebo for getting odom by supplying real world data to gazebo through controllers in ros.

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Asked: 2018-11-23 08:22:12 -0500

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Last updated: Mar 14