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Effective Robotics Programming with ROS

You're reading from   Effective Robotics Programming with ROS Find out everything you need to know to build powerful robots with the most up-to-date ROS

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Product type Paperback
Published in Dec 2016
Publisher Packt
ISBN-13 9781786463654
Length 468 pages
Edition 3rd Edition
Tools
Concepts
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Authors (3):
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Luis S√°nchez Luis S√°nchez
Author Profile Icon Luis S√°nchez
Luis S√°nchez
Enrique Fernandez Perdomo Enrique Fernandez Perdomo
Author Profile Icon Enrique Fernandez Perdomo
Enrique Fernandez Perdomo
Anil Mahtani Anil Mahtani
Author Profile Icon Anil Mahtani
Anil Mahtani
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Toc

Table of Contents (12) Chapters Close

Preface 1. Getting Started with ROS FREE CHAPTER 2. ROS Architecture and Concepts 3. Visualization and Debugging Tools 4. 3D Modeling and Simulation 5. The Navigation Stack – Robot Setups 6. The Navigation Stack – Beyond Setups 7. Manipulation with MoveIt! 8. Using Sensors and Actuators with ROS 9. Computer Vision 10. Point Clouds Index

Publishing odometry information


The navigation stack also needs to receive data from the robot odometry. The odometry is the distance of something relative to a point. In our case, it is the distance between base_link and a fixed point in the frame odom.

The type of message used by the navigation stack is nav_msgs/Odometry. We can see its structure using the following command:

$ rosmsg show nav_msgs/Odometry

As you can see in the message structure, nav_msgs/Odometry gives the position of the robot between frame_id and child_frame_id. It also gives us the pose of the robot using the geometry_msgs/Pose message, and the velocity with the geometry_msgs/Twist message.

The pose has two structures that show the position in Euler coordinates and the orientation of the robot using a quaternion. The orientation is the angular displacement of the robot.

The velocity has two structures that show the linear velocity and the angular velocity. For our robot, we will use only the linear x velocity and the...

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