Publish Odometery using Arduino, 2 motors with encoders, IMU

asked 2022-02-12 12:14:53 -0500

Soleman
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Hello I am pretty new in ROS. I have Arduino, motors with encoders and IMU. Is there any code how I publish Odometery by using rosserial and arduino. Note that I have set all arduino ros lib settings. I need code to publish Odometery. My goal is by using provided code I will able to teleop the robot using keyboard teleop package. After that I will use this Odometery information to navigation stock. Thanks in advance.

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answered 2023-06-08 02:54:48 -0500

satvikgupta

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I would recommend you to follow the tutorials step by step by Automatic Addison. Follow the link to his page: https://automaticaddison.com/how-to-p...

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answered 2022-02-13 15:12:15 -0500

Ktysai
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I would try here: https://github.com/RBinsonB/Nox_robot It has some arduino code there and is usable. I would suggest an Arduino Mega, on UNO I had to some tweak to work on the library itself. Leonardo is ok, but look here for some info: https://answers.ros.org/question/2640...

Good luck!

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Thank you. I want to use this project: [https://github.com/linorobot/linorobo...]. But in this project, a teensy development kit is being used. But I want to replace this teensy with Arduino mega. Which tweaks should I do?

Soleman ( 2022-02-13 23:47:31 -0500 )edit

If you have the chance to work Teensy it would be preferable. Is more powerful, but a little bit hard to connect with the devices In any case, start with ROS SERIAL ARDUINO LIBRARY. There are some examples in the library.

you have to port the program for Mega. Watch out for the interrupts of the econders.

Ktysai ( 2022-02-14 05:41:37 -0500 )edit

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Publish Odometery using Arduino, 2 motors with encoders, IMU

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