Closed haashimrehan closed 1 year ago
To help with localization, I’d like to use the linear information from the Encoders. to minimize errors due to slippage, we can go about this by:
Instead of taking the slowest velocity motor we could also take the average velocity per side.
Not interested in angular information in the wheel encoders since it’s a friction steer. We will use an IMU for that.
Instead of a Twist message, encoder data is a nav_msgs/Odometry message. This provides Twist and Pose feedback with covariance matrices.
nav_msgs/Odometry
To help with localization, I’d like to use the linear information from the Encoders. to minimize errors due to slippage, we can go about this by:
Instead of taking the slowest velocity motor we could also take the average velocity per side.
Not interested in angular information in the wheel encoders since it’s a friction steer. We will use an IMU for that.