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robot_pose_ekf-vs-nthu_odom_fusion's Introduction

robot_pose_ekf VS NTHU_odom_fusion

ROS robot_pose_ekf (ekf with odom and imu data in Odroid)

  • "feedback_wheel_angularVel" topic contains angular velocity of two wheels.

NTHU_odom_fusion (fusion in PIC MCU)

  • Sending angular velocity of two wheels to do sensor fusion in PIC MCU.
  • Sending fused orientation from PIC MCU to Odroid.
  • PIC MCU can send command to Mega board to rotate the robot when the calibration is necessary.

robot_pose_ekf-vs-nthu_odom_fusion's People

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