Wheel Velocity Node - AtlasBuggy/BabyBuggyROS Wiki

Wheel Velocity

To Run

Run rosrun wheel_vel calc_vel.py

Subscribed Topics

/encoder1_raw, Int64

/encoder2_raw, Int64

Published Topics

/wheel_vel, Float64

/ang_vel, Float64

Details

This node takes in the left and right encoders (encoder1 and encoder2), calculates the velocities using a first order filter (same as the smoothing node). These velocities are published to /wheel_vel and /ang_vel with the following equation:

wheel_vel = (right_vel + left_vel) / 2
ang_vel = (right_vel - left_vel) / wheel_dist

Note that wheel_dist is the distance between the left and right encoders.