writing a driver for 4-wheels differential drive robot
I want to make a custom robot and my problem is publishing odometry values. I have and Ackermann steering car robot, but I read that it is hard to integrate that in ROS.
Thus, I switched to this one: http://mikroelectron.com/Product/4WD-...
As you see, it is a 4WD differential drive robot chassis with wheel encoders. I've read about this package here: http://wiki.ros.org/diff_drive_contro...
but I don't know if it is a "driver" or not. Can you help me in this? I just want to integrate such a robot with ROS in order to do other stuff that I want which will include using Kinect and stuff... so getting accurate poses are essential.
I looked for ready solutions like Jakal but their price is simply insane!
thanks!