The odometry source in simulated ROSbot2

Help
1

Hi

In the navigation stack setup image:

http://wiki.ros.org/navigation/Tutorials/RobotSetup

The odometry source come through the message nav_msgs/Odometry ,this is for real robot and simulated robot.

But, In simulated ROSbot2.0, Does this message come from Gazebo? I am confused here.

Also, is there an image for the odometry source in real or simulated ROSbot2? or it is usually inside?

Many thanks

2

Hi Eman
The navigation stack requires that odometry information be published using tf and the nav_msgs/Odometry message. When you simulate your ROSbot, this messages come from Gazebo.

The real or the simulated ROSbot publishes the odometry data on the /odom topic as nav_msgs/Odometry.

Hope this is information you wanted.

Best Regards, Paweł.