evarobot_odometry

Only released in EOL distros:

See evarobot_odometry on index.ros.org for more info including anything ROS 2 related.

Documentation Status

evapi_ros: evarobot_battery | evarobot_bumper | evarobot_controller | evarobot_driver | evarobot_eio | evarobot_infrared | evarobot_minimu9 | evarobot_odometry | evarobot_orientation | evarobot_sonar | evarobot_start | evarobot_teleop

Package Links

Dependencies (8)
Used by (1)

Package Summary

evarobot_odometry provides position and velocity of Evarobot using encoders.

Maintainer status: developed
Maintainer: Mehmet Akcakoca <akcakocamehmet AT gmail DOT com>
Author: Mehmet Akcakoca
License: BSD
Bug / feature tracker: https://github.com/inomuh/evapi_ros/issues
Source: git https://github.com/inomuh/evapi_ros.git (branch: eva50)

New Maintainer : Inovasyon Muhendislik <evarobot@inovasyonmuhendislik.com>

Contents

Nodes
1. evarobot_odometry
  1. Published Topics
  2. Parameters

Nodes

evarobot_odometry

evarobot_odometry reads encoders on the Evarobot, calculates and outputs odometry data(position and velocities) of the Evarobot.

Published Topics

wheel_vel (geometry_msgs/PointStamped)

Right and left velocities of the Evarobot.

Parameters

~devicePath (string, default: /dev/evarobotEncoder)

Driver path of encoder.

~alwaysOn (bool, default: true)

if false, it doesn't publish data until a node subscribes.

~odomTopic (string, default: odom)

Topic name of odometry publisher.

~odomFrame (string, default: odom)

Frame name of odometry data.

~wheelSeparation (double, default: 0.32)

Difference between wheel in meters.

~height (double, default: 0.25)

Height of Evarobot base_link in meters.

~frequency (double, default: 100)

Maximum frequency of node loop.

~gearRatio (int, default: 50)

Gear Ratio of motors.

~CPR (int, default: 64)

CPR value of encoders.

~wheelDiameter (double, default: 0.17)

Diameter of driver wheel in meter

Wiki: evarobot_odometry (last edited 2017-11-06 12:25:14 by DidemOzupekTas)