Only released in EOL distros:  

wheeled_robin_simulator: fake_odom

Package Summary

The fake_odom package


To start the WheeledRobin in a faked odometry mode the '_fake' launch files in wheeled_robin_bringup.



This node simulates a robot by summing up cmd_vel commands and publishing a faked perfect odometry of the robot. No physical calculations are done.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)
  • Desired velocity for WheeledRobin (x, theta)

Published Topics

odom (nav_msgs/Odometry)
  • Odometry of WheeledRobin.
joint_states (sensor_msgs/JointState)
  • Joint State for the left and right wheel.

Provided tf Transforms

  • Depends on the odometry of WheeledRobin
  • Depends on the pitch angle of WheeledRobin which is estimated proportional to the linear velocity.

Wiki: fake_odom (last edited 2013-11-11 17:22:47 by JohannesMayr)