I'm pretty certain p2os already publishes odometry (on /pose IIRC from the last time I peeked at the source code). You can check by launching your p2os nodes, running 'rostopic list -v' and looking for a published topic with type "nav_msgs/Odometry".

Also, see this thread, as it might have some more info that will help you: https://code.ros.org/lurker/message/20110114.144743.f6c55cfb.en.html

- Eric

On Thu, Jan 20, 2011 at 12:32 PM, intern00 <phillip.massey@nist.gov> wrote:

Hello,

I recently started using ROS and am very new to the system. I have set up
the p2os system, base computer and robot (using a P3AT), and can get full
readings from the p2os dashboard and can control the robot using the
keyboard teleoperation.

However, I am having difficulties retrieving odometry information from my
robot. I have read through the tutorials do to this from the navigation
stack (http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/Odom), but am
confused as to how to implement this with p2os, or if I even should at all.

Any advice would be most appreciated.
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