Publishing Encoders and IMU Values to ROS2 over WIFI

[noshluk2]

Task :

• Publish wheel encoders
• Publish IMU (Inertial Measurement Unit) values to ROS2 over WIFI .using RPI4

Requirements

• Hardware : To run this project, you will need the following hardware:
  -An encoder module for measuring motor rotation
  -An IMU sensor for measuring orientation and acceleration
• Software Requirements : To run this project, you will need the following software:
  • ROS2 Humble
  • ROS2 packages for the encoder and IMU (such as robot_localization)

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Process

• Install ROS2 Humble on your computer and set up a ROS2 workspace.
• Connect the encoder module and IMU sensor to the .
• Launch the ROS2 nodes for the encoder and IMU packages.
• Launch the robot_localization package to fuse the sensor data and estimate the robot's position and orientation.
• Visualize the robot's position and orientation using RViz2.

Folders and Directories

• /src: Contains the source code for the nodes publishing.
• /launch: Contains launch files for launching the ROS2 nodes.
• /config: Contains configuration files for the ROS2 packages.
• /rviz: Contains RViz2 configuration files for visualization.