Revision history [back]

I would handle the odometer/gyro system like this:

• Create an odometer node that publishes nav_msgs/Odometry messages to the odom topic. You could publish a message every 10 ms, or you could have a publishing_frequency parameter. The odometer node's internal loop would update the odometry every 10 ms, but that odometry would be published at the frequency specified by the parameter.

• Create a gyro node that publishes sensor_msgs/Imu messages to the imu_data topic. The publishing frequency would be controlled in the manner described above.

• Run a robot_pose_ekf node, which subscribes to the odom and imu_data topics and publishes Kalman filtered output to the robot_pose_ekf/odom_combined topic.

This arrangement makes the Kalman filtering independent of the hardware.