Revision history [back]

A lot of work has already been done for you. Check out the ackerman steering controller here. This will do a lot of this work for you.

Theoretically if you have rear right and rear left encoder ticks then odometry can be calculated exactly the same as a turtle bot. However if you know the angle of the front steering wheels then you can make your odometry estimation much more accurate.

All this will be done for you if you use the package I linked to above.