I have a two-wheeled platform controlled by an Arduino that reports motor encoder counts. So I don't reinvent the wheel, I'm looking for a pre-existing ROS node that can convert those counts into standard odometry and tf messages. Is there a standard ROS package that implements this?
I found this differential_drive project, but it appears to be dead and doesn't have a Kinetic package available.
I also found this differential_drive_controller project, but it appears to be more high-level and doesn't support listening to motor encoders directly. I'd still need to implement a custom node to convert my motor encoder messages to joint messages, so if I need to overcome that overhead, it would make more sense to just implement the odometry reporting myself instead of running two separate nodes in memory.
Originally posted by Cerin on ROS Answers with karma: 940 on 2017-04-09
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