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.
publish_odom_tf (bool, default: true)
  • Choose to publish or not the tf transform message from odom to base_footprint

Provided tf Transforms

odombase_footprint
  • the estimate of the robot's pose
base_footprintbase_link
  • Nul transform. necessary for some applications
base_linklaser
  • Fixed transform from the center of the robot to the laser range finder

Wiki: corobot_state_tf (last edited 2013-09-15 23:28:17 by MorganCormier)