Does the topic /odom published by kobuki_node use imu or wheel encoder?

[willzoe]

I was a little confused when doing odometer fusion.

When using command roslaunch kobuki_node minimal.launch to start kobuki, check the published topic through the command rostopic list, I found that there are the following three topics:

/odom
/mobile_base/sensors/imu_data
/mobile_base/sensors/imu_data_raw

Then I also checked the value of the parameter /mobile_base/use_imu_heading is true through the command rosparam get /mobile_base/use_imu_heading.

1. But I am not sure if the topic is published by imu.

2. Does Kobuki have a wheel encoder, how to view its output?

[corot]

From base.yaml configuration file:

# Use imu readings for heading instead of encoders. That's the normal operation mode for Kobuki, as its
# gyro is very reliable. Disable only if you want to fuse encoders and imu readings in a more sophisticated
# way, for example filtering and fussing with robot_pose_ekf (bool, default: true)
use_imu_heading: true

In short, if use_imu_heading: true both odom and imu_data provide gyro heading. If false, only imu_data does.