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2

I've never worked on Mecanum wheels before so I researched a bit. One of the first things I look for is there has to be a way to combine all of the encoder velocity measurements. Apparently, Jacobian equation can be used for that (I believe it is H_encoder in your question). You can calculate system's velocity by \begin{equation} \left[\begin{array}{c} V_{X} ...


1

Usually, robot's float a topic (eg /mobile_base/commands/reset_odometry for TurtleBot) to reset the odometry. The URDF for the Rosbot2.0 uses Skid Steer plugin. This plugin does not expose a method for resetting the odometry of the robot. So you can't reset odometry by calling a topic or from launch file. But nothing stops you from internally keeping track ...


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