Arduino publish Odom

asked 2019-11-08 08:25:13 -0500

125 ●41 ●56 ●58

updated 2019-11-08 09:03:53 -0500

Arduino MEGA 2560 can publish odometry values (nav_msgs/Odometry.msg)?

I am using an H-bridge that is connected to arduino and the arduino connected to raspberryPi. I'm using ros_serial communication between arduino and raspbery.

What is advised?

thanks

answered 2019-11-09 04:06:53 -0500

parzival
463 ●36 ●62 ●59 https://jashmota.com

updated 2020-03-19 08:20:04 -0500

Yes you can publish any message type from your arduino. You need to write a .ino script to do so. Make sure you include the following lines:

#include <ros.h>
#include <nav_msgs/Odometry.h>

at the top before the line

#include "Arduino.h"

Edit: The rosserial library even has an example sketch named Odom. You can check it out.

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Comments

I was able to implement the arduino odometry, but the rate was very low, around 8 hz. So I made arduino publish geometry_message / Twist and calculate odometry on a python node in raspberry (got rates around 100hz). I think the nav_message / Odometry message is too much for arduino to process

thanks