I am using a differential drive robot and would need to have access to the encoder counts from the simulator, but I cannot find an encoder plugin anywhere. Since encoders are one of the most basic sensors in mobile robotics, I assume that there is already an existing solution to simulate them in Gazebo. To make it clear, I know that differentialDriveController outputs the odometry alreade, but I would need to go lower level and access the counts of the wheels.
Thank you in advance!
- Ubuntu 22.04
- ROS2 Humble
- Gazebo classic 11
- Description file format: URDF.