Odometry #84
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Odometry #84
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Needs to be tested on working robot, to verify the speed is calculated correctlly, and acurattly
Changed the desiered_speed variable to desired_speed
Added code to Arduino to publish encoder ticks Created a custom msg including Header, and Uint8
Allowed the Arduino to see the Ros Custom Header, will require remaking the rosserial_python libraries after making, so that the arduino code can actully compile
… ryanloeffelman-encoder Conflicts: ros_ws/src/arudino/motor/motor.ino
The encoder callbacks will process data retrieved from the encoders. The callbacks are currently empty.
The robots odometry should now be updated from the encoders.
…coder Conflicts: ros_ws/src/arudino/motor/motor.ino
… odometry Conflicts: ros_ws/src/arudino/motor/motor.ino
The code now handles the encoder readings using joints. It will update the wheel joints using a joint_state_publisher.
… odometry Conflicts: ros_ws/src/arudino/motor/motor.ino
The odometry transform is now published based on encoder ticks.
The conversion to linear displacement used the robot radius rather than the wheel radius.
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This will eventually close issue #37 |
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This depends on #65 and converts the encoder ticks to odometry used by slam and literally everything else in ros.