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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 imageMekateng ( 2018-06-07 03:42:13 -0600 )edit

how did you get odometry working can you share

kallivalli gravatar imagekallivalli ( 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

Hey,

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

http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/Odom

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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 imageweiin ( 2013-07-16 17:32:09 -0600 )edit

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

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

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

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

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

Seen: 1,627 times

Last updated: Jul 16 '13