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ros-mobile-robots / diffbot

DiffBot is an autonomous 2wd differential drive robot using ROS Noetic on a Raspberry Pi 4 B. With its SLAMTEC Lidar and the ROS Control hardware interface it's capable of navigating in an environment using the ROS Navigation stack and making use of SLAM algorithms to create maps of unknown environments.
https://ros-mobile-robots.com
BSD 3-Clause "New" or "Revised" License
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Encoder data in simulation #65

Closed AlessiaLiNoce closed 1 year ago

AlessiaLiNoce commented 1 year ago

Hi, great work. I have a question: is there an implementation of the encoder data also on the simulation? Because I can't find it.

fjp commented 1 year ago

Hi thank you @AlessiaLiNoce for the kind feedback.

The simulation of diffbot relies on the gazebo ros control plugin and as far as I know there is no encoder data available (please see also the src).

You might be able to convert the joint angle velocities back to encoder ticks if you really need it in simulation.

Alternatively ros_diff_drive gazebo plugin might provide what you need but this is not used by diffbot.