Setting Up Odometry In this guide, we will be looking at how to integrate our robot’s Odometry system with Nav2. First we will provide a brief introduction on Odometry, plus the necessary messages and transforms that need to be published for Nav2 to function correctly. Next, we will show how to setup Odometry with two different cases.
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We want to publish the transform from the "Odom" frame to the "base_link" frame at current_time. Therefore, we'll set the header of the message and the child_frame_id accordingly, making sure to use "Odom" as the parent coordinate frame and "base_link" as the child coordinate frame.
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The goal in setting up the Odometry is to compute the Odometry information and publish the nav_msgs/Odometry message and Odom => base_link transform over ROS 2. To calculate this information, you will need to setup some code that will translate wheel encoder information into Odometry information, similar to the snippet below:
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We also have discussed how multiple Odometry sensors can be used to provide a filtered and smoothed Odometry using robot_localization. We have also checked if the Odom => base_link transform is being published correctly by robot_localization.
The goal in setting up the Odometry is to compute the Odometry information and publish the nav_msgs/Odometry message and Odom => base_link transform over ROS 2. To calculate this information, you will need to setup some code that will translate wheel encoder information into Odometry information, similar to the snippet below:
In addition to the required Odom => base_link transform, Nav2 also requires the publishing of nav_msgs/Odometry message because this message provides the velocity information of the robot. In detail, the nav_msgs/Odometry message contains the following information: # This represents estimates of position and velocity in free space.
In addition to the required Odom => base_link transform, Nav2 also requires the publishing of nav_msgs/Odometry message because this message provides the velocity information of the robot. In detail, the nav_msgs/Odometry message contains the following information:
The Odometry system provides a locally accurate estimate of a robot’s pose and velocity based on its motion. The Odometry information can be obtained from various sources such as IMU, LIDAR, RADAR, VIO, and wheel encoders.