Add odometry plugin to mobile_robot demos #531
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Co-authored-by: Christoph Fröhlich <[email protected]>
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Converting to draft as this should not be merged yet. |
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ahcorde
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May 21, 2025
I will rebase this PR on top of #511 once it gets completed. |
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Depends on #511
Added
gz-sim-odometry-publisher-systemto the URDF/SDF descriptions, which allows Gazebo to publish the "real" odometry on a topic. This topic can then be used to verify how accurately the controllers are working.