This repository contains a ROS2 package that receives different sensor inputs (e.g. wheel rpm) and estimates odometry based on a selectable model. Currently, only a differential drive model has been implemented and forward kinematics are calculated based on input from wheel encoders.
- No dependencies currently
Build the package in your workspace:
colcon build --packages-select odometry_estimator
Source setup.bash in your workspace:
. install/setup.bash
Launch it:
ros2 run odometry_estimator odometry_estimator
Wheel radius and track length can be set in vehicle_models.h.
I'm using this repository with F249 sensors to get the RPM of my wheels.
- /right_wheel_rpm (std_msgs/Int64): RPM of right wheel
- /left_wheel_rpm (std_msgs/Int64): RPM of left wheel
- /odom (nav_msgs/Odometry): 2D pose and orientation