ROS Wheel Speeds

ROS package originally based on Jonny Dark's work.

It reads rotary encoders and converting to wheel speeds for a Raspberry Pi based differential drive robot.

Depends on wiringPi to build

Publishes a message containing individual wheel speeds as well as Unicycle Model linear and angular velocities

Tested with ROS Indigo and Kinetic.

Sample usage

<node pkg="robot_wheel_speeds" type="robot_wheel_speeds" name="wheel_speeds" respawn="true" output="screen">
  <param name="test_mode" value="$(arg test_mode)" />
  <rosparam file="$(find robot_wheel_speeds)/param/wheel_params.yaml" command="load" />
</node>

Check the wheel_params.yaml file to tune your robot.

Troubleshooting

When building, an error detailing that the WheelVelocities.h is missing may appear. Compile first this package and then the whole workspace.

catkin_make --pkg robot_wheel_speeds