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I am trying to implement the navigation with ROS and a two-wheeled robot with Kinect, I have access to the readings of the velocity and pose of the wheel encoders , so I need an odometry motion model . So is there some equation already done for the odometry in ROS that I can use for this purpose? or any person have experience with this topic?

Originally posted by salime on ROS Answers with karma: 21 on 2013-07-10

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I suggest that you look at the TurtleBot code for some examples.

Originally posted by tfoote with karma: 58457 on 2013-11-18

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