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How to estimate velocity from robot_pose_ekf

asked 2020-06-02 16:18:44 -0500

Ahmed_Desoky
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updated 2020-06-02 16:20:42 -0500

I have a differential drive mobile robot. and I am using robot_pose_ekf to estimate the state of the robot [x,y,θ]

How to estimate [v,ω ] the translational and rotational velocities. from robot_pose_ekf output or adding [v,ω ] as an output from robot_pose_ekf [x,y,θ,v,ω] .

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answered 2020-06-02 19:40:55 -0500

stevemacenski

8272 ●34 ●503 ●129 https://www.linkedin.c...

The output topic is http://docs.ros.org/api/geometry_msgs... which is not providing velocity, I don't think robot pose EKF allows you to do this. Robot Localization however will allow you to do this.

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Are there any individual package that can estimate [v,ω ] directly from the output of robot_pose_ekf [x,y,θ], robot_pose_ekf/odom_combined (geometry_msgs/PoseWithCovarianceStamped)?