It’s possible to publish odometry data on a ros2 topic using the included ROS Odometry Publisher action graph. However, this sort of feels like “cheating” as it relies on ground truth within the Isaac Sim rather than actual wheel rotation etc. It doesn’t match how odometry data is calculated in the real world (hardware).
Is there a straightforward way of generating odometry data from the differential drive controller (action graph node) I’m using to control the robot?
Thank you.
Hey @barca Are you talking about this differential controller? It doesn’t use odometry data as input.
You can add some “noise” to the odometry data to mimic real world odometry.
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