June 2016
Intermediate to advanced
428 pages
9h 15m
English
Content preview from ROS Robotics By ExampleBecome an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
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TurtleBot's odometry
In this section, we explore the TurtleBot's odometry. The general definition of odometry is the use of data from motion sensors to estimate change in position over time. Odometry is used by the TurtleBot to estimate its position and orientation relative to a starting location given in terms of an x and y position and an orientation around the z (upward) axis. The topic is /odom and the command to view the form of the /odom message is as follows:
$ rostopic echo /odom
When you execute this echo command, the output will be updated continuously on the screen. However, we wish to display TurtleBot's motion using rviz. When the odometry option is chosen in rviz, the TurtleBot's position and orientation will be displayed with arrows ...
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I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.