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.
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