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Is there a way to increase the rate at which the Turtlebot 3 Odometry gets published?

asked 2020-12-19 18:46:01 -0500

kjn
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Hello, I am currently running a simulation of the turtlebot 3 in gazebo, and making calculations based off of the odometry of the turtlebot. I couldn't find it elsewhere, but is there a parameter I can adjust so that the odometry gets published at a higher frequency?

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answered 2021-01-27 02:45:32 -0500

rodrigo55
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Hi,

Yes, there is. Since you are working with a Gazebo simulation, the TurtleBot's topics come from Gazebo plugins defined in the turtlebot3_description package. To change the frequency of the odometry, change the <updateRate> parameter of the differential drive controller plugin in

https://github.com/ROBOTIS-GIT/turtle...

If you get stuck, I made this video that shows what I have explained:

https://www.youtube.com/watch?v=h1Zod...

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Can you please update your answer with main points from the video? If your video goes down or isn't available for certain regions then your answer/solution isn't as useful. Also, some prefer text to 16+ minute video

jayess ( 2021-03-11 00:09:27 -0500 )edit

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Asked: 2020-12-19 18:46:01 -0500

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Last updated: Jan 27 '21

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Is there a way to increase the rate at which the Turtlebot 3 Odometry gets published?