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Odometry Estimation ROS2 Package

This repository contains a ROS2 package that receives different sensor inputs (e.g. wheel rpm) and estimates odometry based on a selectable model. Currently, only a differential drive model has been implemented and forward kinematics are calculated based on input from wheel encoders.

Dependencies

  • No dependencies currently

Setup

Build the package in your workspace:

colcon build --packages-select odometry_estimator

Source setup.bash in your workspace:

. install/setup.bash

Launch it:

ros2 run odometry_estimator odometry_estimator

Wheel radius and track length can be set in vehicle_models.h.

Input Topics

I'm using this repository with F249 sensors to get the RPM of my wheels.

  • /right_wheel_rpm (std_msgs/Int64): RPM of right wheel
  • /left_wheel_rpm (std_msgs/Int64): RPM of left wheel

Output Topics

  • /odom (nav_msgs/Odometry): 2D pose and orientation