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I am able to get my odometry working (with IMU and encoders readings). But how do i actually publish the relevant data to gmapping? Is the gmapping file actually subscribing any data from the odometry?
To answer questions of this nature, it is always good to refer to the package itself: gmapping subscribed topics
Hey,
Basically as Weiin said the Gmapping link shows that Gmapping is subscribed to tf/tfMessage to get its odometer information.
You need to publish the odometer information as both a nav_msgs/Odometry and a tf/tfMessage. A good tutorial explaining this can be found here
http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/Odom
Asked: 2013-07-15 21:41:51 -0600
Seen: 2,095 times
Last updated: Jul 16 '13
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Hı, Mr. @Andrick . Coul you please help me how to merge ımu andencoder data?
how did you get odometry working can you share