I have no robot, so I must build one piece by piece. I use differential drivers ,each with a encoder.And each encoder can output two channels signal :A,B.
I can read channel A and B to aquire the speed and direction of a motor through Arduino device.
But how can I integrate the signal from the two encoders with the topic of /odom with the lowest level device Arduino? If this is done by Arduino ,I doubt the ability of an 8-bit processor.
so is there any relevent reference about it?
i have check the detail of msg /odom:
rosmsg show nav_msgs/Odometry
std_msgs/Header header
uint32 seq
time stamp
string frame_id
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/Pose pose
geometry_msgs/Point position
float64 x
float64 y
float64 z
geometry_msgs/Quaternion orientation
float64 x
float64 y
float64 z
float64 w
float64[36] covariance
geometry_msgs/TwistWithCovariance twist
geometry_msgs/Twist twist
geometry_msgs/Vector3 linear
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular
float64 x
float64 y
float64 z
float64[36] covariance
thank you very much!
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