Only released in EOL distros:
Corobot: PhidgetMotor | PhidgetServo | corobot_arm | corobot_camera | corobot_gps | corobot_hokuyo | corobot_joystick | corobot_map_to_jpeg | corobot_msgs | corobot_pantilt | corobot_phidgetIK | corobot_srvs | corobot_ssc32 | corobot_state_tf | corobot_teleop
Package Summary
Documented
corobot_state_tf register 2 topics, sending the odometry in the form of a nav_msgs::Odometry message and the Transform.
- Author: Morgan Cormier/mcormier@coroware.com
- License: BSD
- Source: svn http://svn.code.sf.net/p/roscorobot/code/trunk/Electric/Corobot
corobot: corobot_arm | corobot_camera | corobot_diagnostics | corobot_gazebo | corobot_gps | corobot_joystick | corobot_launch | corobot_msgs | corobot_pantilt | corobot_phidget_ik | corobot_ssc32 | corobot_state_tf | corobot_teleop | corobot_urdf | map_to_jpeg | phidget_motor | phidget_servo | phidget_stepper
Package Summary
Documented
corobot_state_tf register 2 topics, sending the odometry in the form of a nav_msgs::Odometry message and the Transform.
- Maintainer: Morgan Cormier <mcormier AT coroware DOT com>
- Author:
- License: BSD
- Source: git https://github.com/morgancormier/corobot.git (branch: master)
corobot: corobot_arm | corobot_camera | corobot_diagnostics | corobot_gazebo | corobot_gps | corobot_joystick | corobot_launch | corobot_msgs | corobot_pantilt | corobot_phidget_ik | corobot_ssc32 | corobot_state_tf | corobot_teleop | corobot_urdf | map_to_jpeg | phidget_motor | phidget_servo | phidget_stepper
Package Summary
Documented
corobot_state_tf register 2 topics, sending the odometry in the form of a nav_msgs::Odometry message and the Transform.
- Maintainer: Morgan Cormier <mcormier AT coroware DOT com>
- Author:
- License: BSD
- Source: git https://github.com/morgancormier/corobot.git (branch: master)
Contents
ROS API
corobot_state_tf
corobot_state_tf is a package that calculate the odometry of a Corobot using the encoders data.Subscribed Topics
position_data (corobot_msgs/PosMsg)- Encoders data
Published Topics
odometry (nav_msgs/Odometry)- Odometry information
Parameters
Corobot4WD (bool, default: false)- True if the robot is a Corobot CL4. If not, we assume it is a CL2.
- Choose to publish or not the tf transform message from odom to base_footprint
Provided tf Transforms
odom → base_footprint- the estimate of the robot's pose
- Nul transform. necessary for some applications
- Fixed transform from the center of the robot to the laser range finder
