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Create an odometry publisher node in python ros2

asked 2023-01-04 03:22:53 -0500

Sachmk2
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Hi,

I would like to know how to create an odometry publisher node in python ros2 that can publish on the topic nav_msgs/Odometry and TFs (base_link 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

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answered 2023-01-04 04:36:11 -0500

ljaniec

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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_guid...
- https://wiki.ros.org/navigation/Tutor...

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Asked: 2023-01-04 03:22:53 -0500

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Last updated: Jan 04 '23

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Create an odometry publisher node in python ros2