ROS robot chassis base node
The role of the base node:
- Prepare the odometer message for move_base
- Forward cmd_vel message for move_base
- Broadcast tf
What kind of information the base node needs to integrate:
- Integrate linear velocity and angular velocity information
- Publish tf, publish odom through calculation
- move_base
- slam_gmapping
The speed information transmitted from the chassis is integrated to obtain the position information of the trolley. Then publish the odometer information (including position and pose). Pose: speed and heading