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WheelStates -> OdometryEstimate
Compute robot linear and angular velocity (odometry) from measured wheel positions and velocities using wheel separation and radius parameters.
Problem it solves
Translating raw rotational feedback from separate left and right wheels into a unified spatial translation and rotation vector for the robot body.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.