COMS Odometry

Odometry publisher for the COMS vehicle.

Dependencies

• coms_msgs

Parameters

• wheel_diameter: wheel's diameter in meters
• counts_per_rotation: pulse counts from the encoder in one wheel rotation
• encoder_to_axis_center: distance in meters from the encoder to the center of the shaft
• base_frame: TF frame name of the base link
• odom_frame: TF frame name of the odometry

Subscribed topics

• imu: sensor_msgs/Imu message containing the current angular velocity of the vehicle
• encoder: coms_msgs/ComsEncoder message containing the current pulse count from the rotary encoder

Published topics

• odom: nav_msgs/Odometry containing the current pose and velocity of the vehicle

TF Transforms

• odom to base_link

Caveats

Currently only considers 2D (i.e. x, y, and yaw). Needs modifications in order to work in a 3D environment.

See the following URL for more details:

• http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot
• http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom

License

MIT License

Author

Naoki Mizuno