Module: eCarOdometry


Module info:

Module name Short description Publishes Subscribes
eCarOdometry Differential-drive odometry estimation from a pair of encoders in the rear wheels. ODOMETRY , ODOMETRY_ANG_SPEED , ODOMETRY_INCR , ODOMETRY_LIN_SPEED , ODOMETRY_OBS ENC1_CH0_AVRG_VEL , ENC1_CH0_COUNT , ENC1_CH1_AVRG_VEL , ENC1_CH1_COUNT

MOOS commands accepted by the module:

Parameters accepted in the MOOS mission file:
Parameter Description
left_K Ticks to meters constant for left wheel encoders.
odometry_verbose Set to "true" to display live odometry to console.
right_K Ticks to meters constant for right wheel encoders.
wheels_dist Wheel-to-wheel distance (meters)

Detailed description:
Differential-drive odometry estimation from a pair of encoders in the rear wheels.
It is assumed that ENC1_CH0_COUNT is the LEFT wheel, ENC1_CH1_COUNT is the RIGHT encoder.

Module graph:
eCarOdometry

TODO list:
(None)


Changes log:
(None)



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