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Questions tagged [encoders]

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3 answers
48 views

How to compute odometry from encoder ticks

Hello, I would like to know how to publish odom by subscribing to my robot's right and left encoder ticks for a differential drive and visualize in rviz. I saw this topic Odom Publisher by Subscribing ...
0 votes
0 answers
40 views

Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python | Problem using interrupt

I have the following Arduino code that reads motor encoder data on Arduino interrupt pin2 and pin3 and publishes encoder ticks ...
1 vote
0 answers
32 views

Running SLAM without encoders

I am new to the concept of SLAM and mapping, however I ordered a robot vehicle platform which I bought here so that I can explore and practice it on the platform. I also got a 2d liDAR, depth camera ...
0 votes
0 answers
38 views

Unscented Kalman Filter Implementation for Robot Localization using wheel odometry and IMU

I'm trying to implement an unscented Kalman filter algorithm for differential robot localization. The sensors I'm using are wheel encoders and 9-DOF IMU. I've implemented the part of the filter for ...
0 votes
1 answer
44 views

How odometry data generated from IMU and motor encoders

I am working on an autonomous robot that needs nav_msgs/Odometry to work with ros navigation stack nav_msgs/Odometry ...
0 votes
0 answers
47 views

Incorrect values of encoder for mbot Ranger

I have an mbot ranger which uses the 180 Optical Encoder Motor (https://support.makeblock.com/hc/en-us/articles/12376087604887-About-180-Optical-Encoder-Motor-for-mBot-Ranger-). My final goal is to ...
0 votes
1 answer
7 views

Odometry causing a segmentation error

Good afternoon, I have to control a differential drive robot. I had not to use the differential controller plugin, so i just implemented two velocity controllers and a joint state. I now have to ...
0 votes
1 answer
7 views

setting frame ids for ekf localization

I am using wheel encoders and visual odometry(rtabmap) to perform ekf localization. This is the tf tree of rtabmap in localization mode. map->odom->camera_link(->other camera frames) I am ...
0 votes
1 answer
8 views

Confused with setup for robot_localization

Hello, I've just recently started trying to implemented the robot_localization node, and I'm having trouble understanding what all to enable, and what I should be expecting back. Here is my current ...
0 votes
2 answers
139 views

Get odometry from wheels encoders

Hi all, I have a problem to compute odometry from wheel encoders, I mean, i don't have a real problem, I just don't understand a step. I get the ticks from the encoders (they are about 2626 ticks for ...
0 votes
1 answer
36 views

How to publish integers values from a ROS node

Hi to all, I have a ROS node which publish data coming from encoders and current sensors (the node outputs velocity data, raw encoders ticks and currents). Currently, my ROS node publish all these ...
0 votes
1 answer
17 views

ROS + kangaroo x2 + sabertooth 2x32

Please share some insights on the implementation of the same . https://github.com/smd-ros-devel/kangaroo_x2_driver , i am trying to use this . I tried to go through the raised issues on Github , but ...
0 votes
1 answer
28 views

Write/Improve a ROS node to publish encoder data

Hi to all, I'm using two incremental encoders (SICK DFS60B) on my skid steering robot. A full wheel turn on each side generates about 2241114 pulses. I wrote a ROS node in C language in order to ...
0 votes
1 answer
91 views

How to calculate odometry using encoders?

I have tried all the solutions but can't seem to make it work, I can see the odometry in rviz with respect to the /odom frame, and see the tf go around in circles but it doesn't move with respect to ...
0 votes
1 answer
11 views

PID: Infinite loop in a ROS listener node?

Hello, My team and I are participating in the 2017 Eurobot competition, and we are trying to use ROS on our robot. One problem we are facing, is how to write a PID node in ROS. I know there is an ...
0 votes
1 answer
28 views

Using interrupts with rosserial_arduino to count wheel encoder pulses

Hi. I am trying to accurately measure my wheel velocities by counting the pulses coming from my encoders. My idea was to run an Arduino dedicated to only this task, which counts the pulses in the loop(...
0 votes
1 answer
5 views

Error while publishing encoder ticks in Arduino

I am using Arduino Uno to publish Rotary Encoder ticks. I have used the following code to publish the encoder values to ROS and ended up in the error ...
0 votes
1 answer
23 views

computing odometry, creating base controller

I am building my own custom robot and am finding it difficult to interface it to ROS (standard odometry and cmd_vel motor control). All I need is to publish odometry, based on the encoder ticks, and ...
0 votes
1 answer
4 views

Generate odometry from encoders, cmd_vel, differential velocity

Hi to all, I'm trying to mix /imu/data with my robot (Clearpath Husky) odometry by using the robot_localization package in order to use them with the rtabmap_ros package with my RealSense and SICK ...
0 votes
1 answer
32 views

problem with robot localization using amcl

Hi all, I have a mobile robot and I would like it to navigate in a room, I already have a map of the room. I am using wheel encoders for the odometry, robot_pose_ekf for fusing data from wheel ...
0 votes
1 answer
25 views

ROS will not work without wheel encoders?

Hello all, Please forgive my ignorance. This is my first time building a robot using ROS, and I'm really, really eager to get it going. I'm using the Wild Thumper 6WD platform/chassis with ...
0 votes
1 answer
8 views

Sequence of execution of move_base

Hi, I have a mobile robot and would like it to navigate around the building. I already have a map of the building. I am using Wheel Encoders to generate odometry. I am feeding the output of Wheel ...
0 votes
1 answer
39 views

Generating odom message from encoder ticks for robot_pose_ekf

Hi all, I am using robot_pose_ekf to get the estimate of the robot pose and is slightly confused on how to use encoder ticks to generate the odometry message. Till now, I am able to achieve the ...
0 votes
1 answer
4 views

Interface code to handle Arduino Motor Controller and Odometry

Hi, I am building a robot based off of a electric wheelchair with an Arduino as the motor controller and odometry interface. My question is this: Is there a package already existing that reads ...
0 votes
1 answer
7 views

wheel encoders, robot_localization and robot_pose_ekf

Hey! I'm just testing out the robot_localization package with our robots. Loving the level of documentation :). However, I realized that it handles the data streams differently from robot_pose_ekf. ...
0 votes
1 answer
3 views

Translate velocity from encoder count per second to meters per second

I am working with a two wheeled robot, and I need the velocity of the wheels in meters per second, I have the encoder count per second, the wheel radius and the wheel distance. How can I translate ...
0 votes
1 answer
17 views

How to read encoder ticks from arduino with pyserial

I am using a arduino due to read two encoders for wheel position. How do I send those number strings to the pyserial and have pyserial read it as left, right wheel(for ros Odom)? I am not all that ...