Implement wheel odometry

[Achllle]

Description

Wheel odometry is a commonly used form of odometry useful for e.g. localization and mapping.

Default behavior is to not calculate it. It can be enabled using an argument;

roslaunch osr_bringup osr.launch enable_odometry:=true

To Do

• needs rigorous testing with all the changes from master recently
• implement proper covariance estimate

[Achllle]

Ignore some changes that git is showing that are already in master, it has trouble with squashed commits and rebases.

Let me know if something is missing or needs explanation!

[Achllle]

@apollokit @ericjunkins bump

[apollokit]

Code looks good, and it runs fine on my rover with ROS1.

Couple things:

• are you going to put in a proper covariance estimate?
• would be nice to have a little bit of an explanation of the odometry message somewhere in the docs (a .md file in this repo is fine). I would just briefly explain the output of rostopic echo odom, as seen in the screencap below

[Achllle]

Added a reference link and covariance. Since odometry is not enabled by default and is a more advanced option, I don't think we should explain it in the repo. Instead I added a link to my blog.

[Achllle]

@apollokit

[apollokit]

Added a reference link and covariance. Since odometry is not enabled by default and is a more advanced option, I don't think we should explain it in the repo. Instead I added a link to my blog.

Can you at least mention here what the units are on pose and twist? Or give a link where someone can find out? I understand it's a more advanced option, but seems like its helpfulness is limited without at least some context...

[Achllle]

This is the standard ROS odometry message, which is described in the link that I added (did you see the link?). For those who are going to set up a nav stack, they will need odometry at one point, which is what this is for. Someone who doesn't want to build a nav stack shouldn't care about launching odometry in the first place.

[apollokit]

This is the standard ROS odometry message, which is described in the link that I added (did you see the link?). For those who are going to set up a nav stack, they will need odometry at one point, which is what this is for. Someone who doesn't want to build a nav stack shouldn't care about launching odometry in the first place.

a'ight