The sensor sources and The odometry source for simulated ROSbot2.0
hi
In the navigation stack setup image:
http://wiki.ros.org/navigation/Tutori...
The odometry source come through the message nav_msgs/Odometry ,this is for real robot and simulated robot.
Question(1):for simulated ROSbot2.0, Does this message(nav_msgs/Odometry) come from Gazebo? I am confused here.
Question(1): is there an image for the odometry source in real or simulated ROSbot2? or it is usually inside?
The navigation stack needs sensor information.
Question(3):For the simulated ROSbot2 in Gazebo, Are the messages: sensor_msgs/LaserScan or sensor_msgs/PointCloud published from Gazebo? I need to understand this.
Many thanks