neo_kinematics_differential

Summary

The neo_kinematics_differential package provides a means to translate platform control values into individual motor commands, as well as computing the platform’s odometry from its motor encoders.

It is intended to be used for mobile platforms with differential type drive, such as the MP-400.

neo_kinematics_differential_node

Publishes:

• /tf
• /odom
• /drives/joint_trajectory

Subscribes:

• /cmd_vel
• /drives/joint_states

Parameters

wheelDiameter:

Type	Default
double	0.3

Description

Diameter of the wheel (m)

robotWidth:

Type	Default
double	0.5

Description

Width of the robot (m)

Additional parameters for ROS 2

odomFrame:

Type	Default
std::string	“odom”

Description

Frame id for odometery, for using it with namespace add a trailing “/”.

robotBaseFrame:

Type	Default
std::string	“base_link”

Description

Frame id for robot’s base_link, for using it with namespace add a trailing “/”.