ROS Programming: Building Powerful Robots

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 send to ROS Navigation stack as the input. The motor encoders can be used for computing odom and can send to 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 ...