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Update encoder_odom_publisher.py

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bjoernellens1 2025-01-16 11:01:39 +01:00 committed by GitHub
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commit e687300e88
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1 changed files with 3 additions and 3 deletions
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nodes/encoder_odom_publisher.py
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@ -4,7 +4,7 @@ import rospy
import tf import tf
from nav_msgs.msg import Odometry from nav_msgs.msg import Odometry
from std_msgs.msg import Header from std_msgs.msg import Header
from segway_msgs.msg import EncoderTicks # Replace with actual message type from segway_msgs.msg import ticks_fb # Correct message import
import math import math
class EncoderOdometry: class EncoderOdometry:
@ -28,8 +28,8 @@ class EncoderOdometry:
self.odom_pub = rospy.Publisher("/odom_new", Odometry, queue_size=10) self.odom_pub = rospy.Publisher("/odom_new", Odometry, queue_size=10)
self.odom_broadcaster = tf.TransformBroadcaster() self.odom_broadcaster = tf.TransformBroadcaster()
# ROS subscriber # ROS subscriber to /ticks_fb topic
rospy.Subscriber("/ticks_fb", EncoderTicks, self.ticks_callback) rospy.Subscriber("/ticks_fb", ticks_fb, self.ticks_callback)
rospy.spin() rospy.spin()