Create an odometry publisher node in python ros2

Hi,

I would like to know how to create an odometry publisher node in python ros2 that can publish on the topic navmsgs/Odometry and TFs (baselink with respect to the Odom frame). I'm using ros2 foxy on ubuntu 20.04.

Could anyone tell me how to do that?

Thank you in advance

Asked by Sachmk2 on 2023-01-04 04:22:53 UTC

Comments

Answers

How do you get your odometry information? Do you have it already computed and ready to fill the nav_msgs/Odometry and tf fields?

If yes, you should just use standard time publisher node from the documentation.
If no, you have to prepare the odometry - I suggest you to check these with hints how to do it:
- https://navigation.ros.org/setup_guides/odom/setup_odom.html
- https://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom/

Asked by ljaniec on 2023-01-04 05:36:11 UTC