Calculate angluar velocity, how?

asked 2019-02-11 02:46:41 -0600

Hypomania gravatar image


Provided I have these three parameters I can acquire from the vehicle itself:

Speed, steering angle, heading, what's the most accurate way to calculate angular velocity for geometry_msgs/Twist for odometry? Is that advisable or do I need proper wheel encoders?

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Do you also have the kinematics of your vehicle?

gvdhoorn gravatar image gvdhoorn  ( 2019-02-11 03:21:09 -0600 )edit

@gvdhoorn, Ackermann steering if that's what you are asking? Front wheel drive.

Hypomania gravatar image Hypomania  ( 2019-02-11 04:34:11 -0600 )edit