ROS2/odrive nodes for nav2

[HusamZain]

Hi !
I'm new to ros2 and the odrive, and I want to use them in order to make a differential mobile robot navigate, to do so I need to make two nodes one (base controller node) subscribe to cmd_velocity topic and make the motor rotate, and one to subscribe to the position data from the encoder reading and publish the odometery topic.

and I'm trying to use your code, but couldn't understand how to do it,
any suggestion or help ?
thanks in advance

[skymaze]

Hi, You can read turtlebot3 code and example, my code refers to its design and should work the same way.

[ArghyaChatterjee]

Hi @HusamZain , can you share the code that you created to work with ros 2 examples which creates a /cmd_vel topic and /odom topic. I am also facing the same issue. My setup is similar to yours. Any help is appreciated.

[HusamZain]

@ArghyaChatterjee sorry for the late reply.

I haven't done it yet, I'm wondering as well how to do it.
now I'm trying another repo where you can use it with ros2-control
https://github.com/Factor-Robotics/odrive_ros2_control.git
and check this project I think it has all you need
https://github.com/kallaspriit/rosbot.git

[ArghyaChatterjee]

@HusamZain thanks a lot.