How compute odometry ?

asked 2021-04-21 15:30:09 -0500

BenedettaT gravatar image

updated 2021-04-21 15:53:50 -0500

jayess gravatar image

I'm quite new to Ros. I'm using Navigation packages with a rover for doing mapping and localization. I have four encoders that measure the linear velocity of each wheel and four encoders for measuring the angles. How can I compute the odometry using four velocities and four angles? Is there a package that do this ? Can you suggest me which equations use for compute base's velocity and derive the odometry ? Thank you in advance

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This tutorial should be a good place to start.

jayess gravatar image jayess  ( 2021-04-21 15:57:17 -0500 )edit

Thank you for your replay. I saw this tutorial and I think that it is useful for compute the variation of robot position using base's velocity. But I would like to know how compute vx, vy and vtheta using the eight encoders . Do you have any suggestion about it?

BenedettaT gravatar image BenedettaT  ( 2021-04-21 16:08:24 -0500 )edit

You can try starting with this question #q271254

jayess gravatar image jayess  ( 2021-04-21 16:21:55 -0500 )edit