/gyrodometry_ros

ROS implementation of Gyrodometry

Primary LanguageC++MIT LicenseMIT

gyrodometry_ros

Build Status License: MIT

ROS implementation of Gyrodometry for 2D navigation

Environment

  • Ubuntu 20.04
  • ROS Noetic

Install and Build

# 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

How to use

rosrun gyrodometry_ros gyrodometry_node

Node I/O

Node I/O

Nodes

gyrodometry

Published Topics

  • /gyrodom (nav_msgs/Odometry)
    • The gyrodometry data
  • /tf (tf2_msgs/TFMessage)
    • tf (from the odom frame to the gyrodom frame)

Subscribed Topics

  • /imu (sensor_msgs/Imu)
    • The imu data
  • /odom (nav_msgs/Odometry)
    • The odometry data

Parameters

  • ~<name>/child_frame_id (string, default: gyrodom):
    The child frame id of the gyrodometry data

References