Nodes

elektron_base_node

elektron_base_node controls Elektron mobile robot (set wheel speeds), retrieves and calculates odometry.

Subscribed Topics

~cmd_vel (geometry_msgs/Twist)
  • Desired robot speed

Published Topics

~odom (nav_msgs/Odometry)
  • The odometry of the robot based on the wheel movement

Parameters

~device (string, default: /dev/protonek)
  • Linux USB device from which to read the data.
~publish_odom_tf (bool, default: False)
  • Whether to publish or not odometry transform
~lin_scale (double, default: 1.0)
  • Linear scaling factor for correct odometry
~rot_scale (double, default: 1.0)
  • Angular scaling factor for correct odometry

Provided tf Transforms

odombase_link
  • the pose of the robot base in the odom frame. Only provided when publish_odom_tf is enabled.

Wiki: elektron_base (last edited 2011-07-05 20:56:21 by MaciejStefanczyk)