The EKF node requires a geometry_msgs/TwistStamped topic that contains the measured speed and yaw rate of the vehicle. This can be calculated from wheel speed measurements using differential drive kinematics and the known wheel radius and distance between the two drive wheels.
dmocnik
commented
3 months ago
The EKF node requires a
geometry_msgs/TwistStampedtopic that contains the measured speed and yaw rate of the vehicle. This can be calculated from wheel speed measurements using differential drive kinematics and the known wheel radius and distance between the two drive wheels.