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Hadabot Blog - Wheel rotational velocity using wheel encoders, ROS2, and an ESP32 https://blog.hadabot.com/wheel-rotational-velocity-using-ros2-esp32-wheel-encoders.html
Fri 10 Apr 2020 10:54:17 PM CEST
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For robot navigation, we need odometry. Before we can determine a Hadabot's odometry, the Hadabot's ESP32 needs to compute and publish out its wheel's rotational velocity out to ROS2.

article hardware robotics sensors
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