Odometry Publisher Node

The package is dedicated to be a unified frame publisher for dynamic data. It has a simple interface and a straightforward functionality.

Table of contents

• Structure
  • Folders
  • Files
• Algorithm
• Parameters
• Credits

Project structure

.
├── include
│   └── robotec_frame_publisher
│       └── frame_publisher.hpp
├── src
│   └── frame_publisher.cpp
├── CMakeLists.txt
├── LICENSE
├── package.xml
└── README.md

Folders

• include : C/C++ Headers
• src : code of the package

Files

• README.md : the documentation of the project
• frame_publisher.h : the main class declaration
• frame_publisher.cpp : program functionality

Algorithm

The package receives data from user-defined topics (velocity and pose) and packs it into messages with a structure for creating navigation frames (specified by the user).

Parameters

• from : parent frame_id
• to : child frame_id
• twist_topic : velocity data topic
• pose_topic : pose data topic

Credits

• Original project : https://github.com/linorobot/linorobot