Implement wheel odometry

RoboJackets / urc-software

Primary codebase for the RoboNav team's URC rover.

https://robojackets.org/teams/robonav/

MIT License

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Open yambati03 opened 2 months ago

yambati03 commented 2 months ago

This has a few requirements to be considered done

Ensure that we can receive encoder values from firmware
Ensure that the ROS 2 control state interface is correctly updated with the most update encoder values
Ensure that the odometry is consistent with actual movement (this needs to be tested on the physical rover)