Hello,
I am trying to create and publish odometry data for a differential drive robot from an Arduino Due board with the data coming from wheel encoders and a gyro sensor attached to the board.
my intention is to create and publish the Odom messages from the Arduino Due itself, since it has a fairly powerful Microcontroller. (Is it a good practice?)
I have a few question though to clarify & make sure about a few things for myself. I check out the [publishing odometry tutorial](http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom) and i notice that there is a `odom.twist.twist.linear.y = vy` field, do I have to hard code this to `0.0` for a differential drive robot?
Is it alright if I just convert the gyro’s readings (which is in Degree Per Second) to Radian/sec and pass it straight as `vth` to `odom.twist.twist.angular.z = vth`?
In the Arduino it seems like that i can not use the odom_quat as in the tutorial to convert my heading to quats.
Instead should I add `odom_trans.transform.rotation.z` and `odom_trans.transform.rotation.w` to the message manually and calculate the value?
At what rate is the best practice to calculate and publish odometry for a Turtlebot class diff drive robot?
if you have any heads up or pointers regarding to what i'm trying to do I would appreciate it.
Thank you.
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