mechanical_odometry

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 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.