wheel_odometry

• File: mavros_extras/src/plugins/wheel_odometry.cpp
• Class: mavros::extra_plugins::WheelOdometryPlugin
• Namespace: wheel_odometry
• Brief: Wheel odometry plugin.

This plugin allows computing and publishing wheel odometry coming from FCU wheel encoders. Can use either wheel's RPM or WHEEL_DISTANCE messages (the latter gives better accuracy).

Publishers

• ~/rpm (mavros_msgs::msg::WheelOdomStamped)
• ~/distance (mavros_msgs::msg::WheelOdomStamped)
• ~/velocity (geometry_msgs::msg::TwistWithCovarianceStamped)
• ~/odom (nav_msgs::msg::Odometry)

Subscribers

• None

Services

• None

Clients

• None

Parameters

• send_raw [type: bool, default: false] - General params
• count [type: integer, default: 2]
• use_rpm [type: bool, default: false]
• send_twist [type: bool, default: false] - Odometry params
• frame_id [default: uas_->get_odom_frame_id()]
• child_frame_id [default: uas_->get_base_link_frame_id()]
• vel_error [type: double, default: 0.1]
• tf.frame_id [default: uas_->get_odom_frame_id()] - TF subsection
• tf.child_frame_id [default: uas_->get_base_link_frame_id()]
• tf.send [type: bool, default: false]

MAVLink Subscriptions

• RPM [handler: handle_rpm, dialect: ardupilotmega, msg_id: 226, id: mavlink::ardupilotmega::msg::RPM::MSG_ID]
• WHEEL_DISTANCE [handler: handle_wheel_distance, dialect: common, msg_id: 9000, id: mavlink::common::msg::WHEEL_DISTANCE::MSG_ID]

MAVLink Publications

• None