Odometry Mileometre

This very simple node subscribes to /odom and calculates the travelled distance since start in metres. The result is publish on /odom_mileage.

Start with rosrun odomoetry_mileage odometry_mileage

If the parametere saved_mileage is present on the rosparam server (e.g. via the datacentre), then the node will use the stored mileage to intialise itself. The node will also check against the actual /mileage topic on startup and will choose the large of both (parameter or published value). The mileage topic might be actually higher then the odom_mileage topic after restarting the robot because at that point the mileage is read directly from the EEPROM and the odometry_mileage node might not have been running all the time when the system crashes.

While the node is running the mileage parameter is constantly set to the current value and saved to the datacentre. The default save interval is every 500 odometry messages, which is every ~10 seconds. This can be change via the save_interval parametre.

Original page: https://github.com/strands-project/strands_apps/blob/indigo-devel/odometry_mileage/README.md