Publishing Odom and tf information from Arduino
I'm using an Arduino as my controller for getting the encoder ticks. This way I'm calculating the Vx , Vy(=0, since it's is a non-holonomic robot) and omega_r using the kinematics of differential robots as stated in an answer here
I'm going through the navigation stack on odometry and I have the following questions to ask:
- Do I have to calculate the odometry information from Arduino and directly publish it to the odom topic? Or,
- Make a node to subscribe to the messages published by the Arduino, and then publish both nav_msgs/odometry and transform data over ROS?
- Make a node to subscribe to the messages published by the Arduino, and then publish both nav_msgs/odometry and transform data over ROS?
It seem like we're working in similar project, can you give me any account you have to discuss the project in the future ..? sorry to say this here ..
mail me on kartikmadhira1@gmail.com