Encoder Speed Pulses in Isaac?

In my robot, the brushless motor controller provides pulses /time for speed. What is the best way to put this information into Issac for consumption into odometry?

Depending on the form you are getting this information and what kind of base this is (Ackermann, differential, holonomic, etc.), you would want to implement a codelet that can read these speed readings, accumulate them to determine speed and acceleration (linear and angular). For a differential base, you can then encode this information into a StateProto with data for DifferentialBaseDynamics and the DifferentialBaseOdometry codelet can calculate odometry as Odometry2Proto.

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