ROS implementation of Gyrodometry for 2D navigation
- Ubuntu 20.04
- ROS Noetic
# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/gyrodometry_ros.git
# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build gyrodometry_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended
rosrun gyrodometry_ros gyrodometry_node
- /gyrodom (
nav_msgs/Odometry
)- The gyrodometry data
- /tf (
tf2_msgs/TFMessage
)- tf (from the odom frame to the gyrodom frame)
- /imu (
sensor_msgs/Imu
)- The imu data
- /odom (
nav_msgs/Odometry
)- The odometry data
- ~<name>/child_frame_id (string, default:
gyrodom
):
The child frame id of the gyrodometry data