encoder-odometry-math
CommunityTurn encoder counts into reliable robot pose.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Compute odometry for a differential-drive robot from wheel encoder signals to deliver pose and velocity estimates for navigation and control.
Core Features & Use Cases
- Quadrature encoding fundamentals, velocity estimation, and forward kinematics for differential-drive robots.
- Pose integration options (Euler, Runge-Kutta, exact arc) and covariance estimation for ROS 2 nav messages.
- Useful for calibration and simulation, ROS 2 nodes publishing /odom and base_link transforms.
Quick Start
Run an encoder-based odometry node that subscribes to wheel counts and publishes /odom and base_link transform.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: encoder-odometry-math Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#encoder-odometry-math Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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