--- /dev/null
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
--- /dev/null
+cmake_minimum_required(VERSION 2.8.3)
+project(arc_odometry)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ nav_msgs
+ sensor_msgs
+ tf
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+find_package(cmake_modules REQUIRED)
+find_package(Eigen REQUIRED)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+ INCLUDE_DIRS include
+ LIBRARIES arc_odometry
+ CATKIN_DEPENDS roscpp nav_msgs sensor_msgs tf
+ DEPENDS Eigen
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+ include
+ ${catkin_INCLUDE_DIRS}
+ ${Eigen_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+add_library(${PROJECT_NAME}
+ src/diff_odometry.cpp
+)
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(odometry_publisher src/odometry_publisher.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+#add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(odometry_publisher ${PROJECT_NAME}
+ ${catkin_LIBRARIES}
+ ${Eigen_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME} #${PROJECT_NAME}_node
+ ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+ FILES_MATCHING PATTERN "*.h"
+ PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_arc_odometry.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- /dev/null
+twil.yaml
\ No newline at end of file
--- /dev/null
+# Watch-out: The indentation here is relevant to the semantic!
+
+odometry_publisher:
+ wheel_separation: 0.322
+ wheel_radius: [0.075, 0.075]
+ odom_frame_id: "odom"
+ base_frame_id: "twil_origin"
+ publish_rate: 100
+
\ No newline at end of file
--- /dev/null
+/******************************************************************************
+ ROS arc_odometry Package
+ Differential Drive Odometry Class
+ Copyright (C) 2018 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+#ifndef DIFF_ODOMETRY_H
+#define DIFF_ODOMETRY_H
+
+#include <vector>
+
+#include <Eigen/Dense>
+
+#include <ros/time.h>
+
+namespace arc_odometry
+{
+ class DiffOdometry
+ {
+ public:
+ DiffOdometry(double wheelBase,std::vector<double> wheelRadius);
+ ~DiffOdometry(void);
+
+ void update(double leftDisp,double rightDisp,const ros::Duration &duration);
+ void update(const Eigen::Vector2d &deltaPhi,const ros::Duration &duration);
+ double x(void) const {return x_[0];}
+ double y(void) const {return x_[1];}
+ double heading(void) const {return x_[2];}
+ void getPose(Eigen::Vector3d &x) const {x=x_;}
+ double linear(void) const {return u_[0];}
+ double angular(void) const {return u_[1];}
+ void getVelocity(Eigen::Vector2d &u) const {u=u_;}
+ void setParams(double wheelBase,std::vector<double> wheelRadius);
+ void setPose(const Eigen::Vector3d &x) {x_=x;}
+
+ private:
+ std::vector<double>wheelRadius_;
+ double wheelBase_;
+
+ Eigen::Vector2d u_;
+ Eigen::Vector3d x_;
+ };
+}
+#endif
--- /dev/null
+<launch>
+ <arg name="paused" default="true"/>
+ <arg name="headless" default="false"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="wam" default="false"/>
+
+ <remap from="/command" to="/nonsmooth_backstep_controller/command" />
+
+ <include file="$(find twil_description)/launch/gazebo.launch" >
+ <arg name="paused" value="$(arg paused)"/>
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+ <arg name="wam" value="$(arg wam)"/>
+ </include>
+
+ <include file="$(find nonsmooth_backstep_controller)/launch/nonsmooth_backstep.launch" />
+
+ <node name="eight_trajectory" pkg="pose2d_trajectories" type="eight_trajectory" respawn="false" output="screen" args="_x:=0.0 _y:=-0.5 _radius:=1.0 _ang_vel:=0.1"/>
+
+ <node name="pose2d_stamp" pkg="pose2d_trajectories" type="pose2d_stamp" respawn="false" output="screen" args="_frame_id:=map" />
+
+ <node pkg="tf2_ros" type="static_transform_publisher" name="odom_frame_publisher" args="0 0 0 0 0 0 1 map odom" />
+
+ <include file="$(find twil_description)/launch/display.launch" />
+
+ <rosparam file="$(find arc_odometry)/config/odometry_publisher.yaml" command="load"/>
+
+ <node pkg="arc_odometry" type="odometry_publisher" name="odom_publisher" />
+
+</launch>
--- /dev/null
+<?xml version="1.0"?>
+<package>
+ <name>arc_odometry</name>
+ <version>0.0.0</version>
+ <description>The arc_odometry package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>GPLv3</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/arc_odometry</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+ <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
+
+
+ <!-- The *_depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use run_depend for packages you need at runtime: -->
+ <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>roscpp</build_depend>
+ <build_depend>Eigen</build_depend>
+ <build_depend>nav_msgs</build_depend>
+ <build_depend>sensor_msgs</build_depend>
+ <build_depend>tf</build_depend>
+ <run_depend>roscpp</run_depend>
+ <run_depend>Eigen</run_depend>
+ <run_depend>nav_msgs</run_depend>
+ <run_depend>sensor_msgs</run_depend>
+ <run_depend>tf</run_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
--- /dev/null
+/******************************************************************************
+ ROS arc_odometry Package
+ Differential Odometry Class
+ Copyright (C) 2018 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+#include <arc_odometry/diff_odometry.h>
+
+namespace arc_odometry
+{
+ DiffOdometry::DiffOdometry(double wheelBase,std::vector<double> wheelRadius)
+ {
+ wheelBase_=wheelBase;
+ wheelRadius_=wheelRadius;
+ u_.setZero();
+ x_.setZero();
+ }
+
+ DiffOdometry::~DiffOdometry(void)
+ {
+
+ }
+
+ // Incremental encoders sense angular displacement and
+ // not velocity
+ // deltaPhi[0] is the left wheel angular displacement
+ // deltaPhi[1] is the right wheel angular displacement
+ void DiffOdometry::update(const Eigen::Vector2d &deltaPhi,const ros::Duration &duration)
+ {
+ double dt=duration.toSec();
+
+ Eigen::Vector2d deltaU;
+ deltaU << (deltaPhi[0]*wheelRadius_[0]+deltaPhi[1]*wheelRadius_[1])/2.0,
+ (deltaPhi[1]*wheelRadius_[1]-deltaPhi[0]*wheelRadius_[0])/wheelBase_;
+
+ double deltaS=(fabs(deltaU[1]) > DBL_EPSILON)?
+ deltaU[0]*sin(deltaU[1]/2)/(deltaU[1]/2):deltaU[0];
+
+ if(dt > DBL_EPSILON) u_ << deltaS/dt , deltaU[1]/dt;
+
+ Eigen::Vector3d deltaX;
+ deltaX << deltaS*cos(x_[2]+deltaU[1]/2.0),
+ deltaS*sin(x_[2]+deltaU[1]/2.0),
+ deltaU[1];
+
+ x_+=deltaX;
+ }
+
+ void DiffOdometry::update(double leftDisp,double rightDisp,const ros::Duration &duration)
+ {
+ Eigen::Vector2d deltaPhi;
+ deltaPhi << leftDisp, rightDisp;
+
+ update(deltaPhi,duration);
+ }
+
+ void DiffOdometry::setParams(double wheelBase,std::vector<double> wheelRadius)
+ {
+ wheelBase_=wheelBase;
+ wheelRadius_=wheelRadius;
+ }
+}
--- /dev/null
+/******************************************************************************
+ ROS arc_odometry Package
+ Odometry Publisher Node
+ Copyright (C) 2018 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+#include <boost/assign.hpp>
+
+#include <ros/node_handle.h>
+#include <nav_msgs/Odometry.h>
+#include <sensor_msgs/JointState.h>
+#include <tf/tfMessage.h>
+#include <tf/transform_datatypes.h>
+
+#include <arc_odometry/diff_odometry.h>
+
+class OdometryPublisher
+{
+ public:
+ OdometryPublisher(ros::NodeHandle node);
+ ~OdometryPublisher(void);
+ void publish(void) const;
+
+ private:
+ ros::NodeHandle node_;
+
+ Eigen::Vector2d phi_;
+
+ ros::Publisher odomPub_;
+ ros::Publisher tfPub_;
+
+ ros::Subscriber jointStateSub_;
+
+ std::vector<double> wheelRadius_;
+ double wheelBase_;
+
+ arc_odometry::DiffOdometry odom_;
+
+ std::string odom_frame_id_;
+ std::string base_frame_id_;
+
+ ros::Time lastSamplingTime_;
+
+ void jointStateCB(const sensor_msgs::JointState::ConstPtr &jointState);
+};
+
+OdometryPublisher::OdometryPublisher(ros::NodeHandle node):
+ wheelRadius_(2),odom_(wheelBase_,wheelRadius_)
+{
+ node_=node;
+
+ if(!node_.getParam("odometry_publisher/wheel_separation",wheelBase_))
+ {
+ ROS_ERROR("No 'wheel_separation' in node %s.",node_.getNamespace().c_str());
+ return;
+ }
+
+ if(!node_.getParam("odometry_publisher/wheel_radius",wheelRadius_))
+ {
+ ROS_ERROR("No 'wheel_radius' in node %s.",node_.getNamespace().c_str());
+ return;
+ }
+
+ odom_.setParams(wheelBase_,wheelRadius_);
+ phi_.setZero();
+
+ odom_frame_id_="odom";
+ node_.param("odom_frame_id",odom_frame_id_,odom_frame_id_);
+
+ base_frame_id_="base_link";
+ node_.param("base_frame_id",base_frame_id_,base_frame_id_);
+
+ odomPub_=node_.advertise<nav_msgs::Odometry>("odom",100);
+
+ tfPub_=node_.advertise<tf::tfMessage>("/tf",100);
+
+ lastSamplingTime_=ros::Time::now();
+
+ jointStateSub_=node_.subscribe("joint_states",100,&OdometryPublisher::jointStateCB,this);
+}
+
+OdometryPublisher::~OdometryPublisher(void)
+{
+ tfPub_.shutdown();
+ odomPub_.shutdown();
+ jointStateSub_.shutdown();
+}
+
+void OdometryPublisher::jointStateCB(const sensor_msgs::JointState::ConstPtr &jointState)
+{
+ ros::Time time=jointState->header.stamp;
+
+ // Incremental encoders sense angular displacement and
+ // not velocity
+ // phi[0] is the left wheel angular displacement
+ // phi[1] is the right wheel angular displacement
+ Eigen::Vector2d deltaPhi=-phi_;
+ for(unsigned int i=0;i < jointState->position.size() && i < phi_.size();i++)
+ {
+ phi_[i]=jointState->position[i];
+ }
+ deltaPhi+=phi_;
+
+ odom_.update(deltaPhi,time-lastSamplingTime_);
+ lastSamplingTime_=time;
+}
+
+void OdometryPublisher::publish(void) const
+{
+ ros::Time time=ros::Time::now();
+
+ Eigen::Vector3d x;
+ Eigen::Vector2d u;
+ odom_.getPose(x);
+ odom_.getVelocity(u);
+
+ nav_msgs::Odometry odomMsg;
+ odomMsg.header.stamp=time;
+ odomMsg.header.frame_id=odom_frame_id_;
+ odomMsg.child_frame_id=base_frame_id_;
+
+ odomMsg.pose.pose.position.x=x[0];
+ odomMsg.pose.pose.position.y=x[1];
+ odomMsg.pose.pose.position.z=0;
+
+ odomMsg.pose.pose.orientation=tf::createQuaternionMsgFromYaw(x[2]);
+
+ // Fake covariance
+ double pose_cov[]={1e-6, 1e-6, 1e-16,1e-16,1e-16,1e-9};
+ odomMsg.pose.covariance=boost::assign::list_of
+ (pose_cov[0]) (0) (0) (0) (0) (0)
+ (0) (pose_cov[1]) (0) (0) (0) (0)
+ (0) (0) (pose_cov[2]) (0) (0) (0)
+ (0) (0) (0) (pose_cov[3]) (0) (0)
+ (0) (0) (0) (0) (pose_cov[4]) (0)
+ (0) (0) (0) (0) (0) (pose_cov[5]);
+
+
+ odomMsg.twist.twist.linear.x=u[0]*cos(x[2]);
+ odomMsg.twist.twist.linear.y=u[0]*sin(x[2]);
+ odomMsg.twist.twist.linear.z=0;
+ odomMsg.twist.twist.angular.x=0;
+ odomMsg.twist.twist.angular.y=0;
+ odomMsg.twist.twist.angular.z=u[1];
+
+ //Fake covariance
+ double twist_cov[]={1e-6,1e-6,1e-16,1e-16,1e-16,1e-9};
+ odomMsg.twist.covariance=boost::assign::list_of
+ (twist_cov[0]) (0) (0) (0) (0) (0)
+ (0) (twist_cov[1]) (0) (0) (0) (0)
+ (0) (0) (twist_cov[2]) (0) (0) (0)
+ (0) (0) (0) (twist_cov[3]) (0) (0)
+ (0) (0) (0) (0) (twist_cov[4]) (0)
+ (0) (0) (0) (0) (0) (twist_cov[5]);
+
+
+ odomPub_.publish(odomMsg);
+
+ tf::tfMessage tfMsg;
+ tfMsg.transforms.resize(1);
+ tfMsg.transforms[0].transform.translation.z=0.0;
+ tfMsg.transforms[0].child_frame_id=base_frame_id_;
+ tfMsg.transforms[0].header.frame_id=odom_frame_id_;
+
+ geometry_msgs::TransformStamped &odom_frame=tfMsg.transforms[0];
+ odom_frame.header.stamp=time;
+ odom_frame.transform.translation.x=x[0];
+ odom_frame.transform.translation.y=x[1];
+ odom_frame.transform.rotation=tf::createQuaternionMsgFromYaw(x[2]);
+
+ tfPub_.publish(tfMsg);
+}
+
+int main(int argc,char* argv[])
+{
+ ros::init(argc,argv,"odometry_publisher");
+ ros::NodeHandle node;
+
+ OdometryPublisher odomPublisher(node);
+
+ int rate=100;
+ node.param("publish_rate",rate,rate);
+
+ ros::Rate loop(rate);
+ while(ros::ok())
+ {
+ odomPublisher.publish();
+
+ ros::spinOnce();
+ loop.sleep();
+ }
+ return 0;
+}
projects / arc_odometry.git / commitdiff