Mastering ROS for Robotics Programming - Second Edition

Arduino-ROS example - Odometry Publisher

In this example, we will see how to send an odom message from an Arduino node to a PC. This example can be used in a robot for computing odom and sending to the ROS Navigation stack as the input. The motor encoders can be used for computing odom and can transmit to a PC. In this example, we will see how to send odom for a robot which is moving in a circle, without taking the motor encoder values:

/* * rosserial Planar Odometry Example */ #include <ros.h> #include <ros/time.h> #include <tf/tf.h> #include <tf/transform_broadcaster.h> ros::NodeHandle nh; //Transform broadcaster object geometry_msgs::TransformStamped t; tf::TransformBroadcaster broadcaster; double x = 1.0; double y = 0.0; double theta ...