This node subscribe current Pose and Twist topic and publish odometry frame based on REP105.
Params
| param | Type | Description | Dfault |
|---|---|---|---|
| current_pose_topic | string | Topic name of the current pose | /current_pose |
| current_twist_topic | string | Topic name of the current twist | /current_twist |
| robot_frame_id | string | frame_id of the robot | base_link |
| map_frame_id | string | frame_id of the map | map |
| odom_frame_id | string | frame_id of the odom | odom |
Topics
| Topic | Type | Pub/Sub | Description |
|---|---|---|---|
| param (current_pose_topic) | geometry_msgs/PoseStamped | Sub | Current Pose in map frame |
| param (current_twist_topic) | geometry_msgs/TwistStamped | Sub | Current Twist in robot frame |
| tf | tf/tfMessage | Pub,Sub | Publishing odom frame based on REP105 |
| ~odom_pose | geometry_msgs/PoseStamped | Pub | Pose in the odom frame |