mechanical_odometry
Figure: mechanical_odometry node diagram.
Summary
The mechanical_odometry node subscribes to the velocities of each motor, then calculates the odometry based on the geometry of the differential drive robot by using motion_control forward_kinematics. The mechanical odometry is then published to the /mechanical_odometry topic. The wheel angles are also published to the /joint_states topic to update the wheel frames.
Usage
Run:
ros2 run uiabot mechanical_odometry
Interfaces
Publishers
Topic |
Message type |
Description |
|---|---|---|
mechanical_odometry |
nav_msgs/Odometry |
Calculated mehcanical odometry. |
joint_states |
sensor_msgs/JointState |
Wheels joint states. |
Subscribers
Topic |
Message type |
Description |
|---|---|---|
axis0/vel |
std_msgs/Float32 |
Axis0 velocity, in rad/s. |
axis1/vel |
std_msgs/Float32 |
Axis1 velocity, in rad/s. |