How to use the encoder information from the motor as odometry data for ros

[Eimyver3]

Hello.
I am currently working on research and implementation of robot_localization to improve the accuracy of robot location estimation.
I am currently working on building a sensor fusion environment with IMU and wheel encoders using a robot called nexusrobot.

4WD 100mm Mecanum Wheel Learning Arduino kit10009 | NEXUS Robot | NEXUS Robot

I created a program to get the encoder values of each motor from the encoder through serial communication as shown in the image below.

Since I want to use the acquired data for robot_localization, I think I have to adapt it to nav_msgs/Odometry.

I think I’ve learned the basics of ROS (and I’m sure I’m wrong), but I’m confused about this task.

I am confused about this because I feel that I have already been able to get the nav_msgs/Odometry values easily in my previous learning.

How can I reflect the values retrieved from the motor in nav_msgs/Odometry?

If you have any references or information that would be helpful, I would appreciate it.
Also, if there is any part that you think I have misunderstood or have not learned enough, please point it out to me.

Thank you very much.

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[albertoezquerro]

Hello @Eimyver3 ,

You should have a look at the Basic Kinematics for Mobile Robots course. In Unit 3, Kinematics of Nonholonomic robots, it is explained how to convert encoder ticks into odometry data.

[Eimyver3]

Thank you very much. I’ll try to learn it as soon as possible.