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how does the odometry (imu+encoder) publish its data to gmapping?

asked 2013-07-15 21:41:51 -0600

Andrick gravatar image

updated 2013-11-18 18:52:06 -0600

tfoote gravatar image

I am able to get my odometry working (with IMU and encoders readings). But how do i actually publish the relevant data to gmapping? Is the gmapping file actually subscribing any data from the odometry?

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Hı, Mr. @Andrick . Coul you please help me how to merge ımu andencoder data?

Mekateng gravatar image Mekateng  ( 2018-06-07 03:42:13 -0600 )edit

how did you get odometry working can you share

kallivalli gravatar image kallivalli  ( 2019-09-17 02:10:17 -0600 )edit

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answered 2013-07-15 21:53:58 -0600

weiin gravatar image

To answer questions of this nature, it is always good to refer to the package itself: gmapping subscribed topics

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answered 2013-07-16 14:42:21 -0600

HenryW gravatar image


Basically as Weiin said the Gmapping link shows that Gmapping is subscribed to tf/tfMessage to get its odometer information.

You need to publish the odometer information as both a nav_msgs/Odometry and a tf/tfMessage. A good tutorial explaining this can be found here

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You do not need the odometry message for gmapping. It gets that data through the tf. (You do however, need the odometry message for the navigation stack.)

weiin gravatar image weiin  ( 2013-07-16 17:32:09 -0600 )edit

Yes sorry Weiin is correct, Gmapping does not need it itself :D

HenryW gravatar image HenryW  ( 2013-07-17 18:20:14 -0600 )edit

Alright thanks! I'll have to read more about the tf then! :)

Andrick gravatar image Andrick  ( 2013-07-17 21:48:46 -0600 )edit

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Asked: 2013-07-15 21:41:51 -0600

Seen: 2,058 times

Last updated: Jul 16 '13