Encoder Odometry #78
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Encoder Odometry #78
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| @@ -0,0 +1,3 @@ | |||
| float64 wheelbase | |||
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Tell me what this is
src/EncOdom/EncOdom.cpp
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| tf2::convert(newOrientation, transformStamped.transform.rotation); | ||
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| const auto delta_position = tf2::quatRotate(newOrientation, tf2::Vector3(0, 0, tangentialVel * dt)); | ||
| tf2::convert(delta_position, transformStamped.transform.translation); |
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Something something delta x + old position = new positon
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This subscribes to the diffdrive_raw topic and broadcasts a transform from odom to base_link. There are a few uncertainties, such as my assumption that tf2::Vector3 is implicitly converted from RPY to a quaternion with https://docs.ros.org/kinetic/api/tf2/html/namespacetf2.html#a701335dd7331e8391843b31dd89746a6. However, that is a predictable and harmless fix so we only stand to gain by pushing this into master.