Phidgets Motor Encoder

References

• Encoder Phidgets Guide
• ROS Phidgets Documentation
• Testing on Mac

Check

 rosrun phidgets manager
   |-   # -|-              Type              -|- Serial No. -|-  Version -|
   |-------|----------------------------------|--------------|------------|
   |-   0 -|-                 PhidgetEncoder -|-     351673 -|-      302 -|
   |-------|----------------------------------|--------------|------------|
   |-   1 -|-            PhidgetInterfaceKit -|-      69535 -|-      825 -|
   |-------|----------------------------------|--------------|------------|
   |-   2 -|-            PhidgetMotorControl -|-     147489 -|-      102 -|
   |-------|----------------------------------|--------------|------------|
   |-   3 -|-                 PhidgetEncoder -|-     351547 -|-      302 -|
   |-------|----------------------------------|--------------|------------|

Modified the serial numbers for the left and right encoders in the odometry.launch file in the ..../floor_hugger/launch directory.

 diff odometry.launch.org odometry.launch
   15c15
   <         <param name="serial" value="52980" />
   ---
   >         <param name="serial" value="351547" />
   19c19
   <         <param name="serial" value="54104" />
   ---
   >         <param name="serial" value="351673" />
   24,25c24,25
   <         <param name="serialleft" value="52980" />
   <         <param name="serialright" value="54104" />
   ---
   >         <param name="serialleft" value="351547" />
   >         <param name="serialright" value="351673" />

Execute

 cd catkin_ws_indigo/src/floor_hugger/launch
 cp ../../phidgets/odometry.launch odometry.launch.org
 roslaunch floor_hugger odometry.launch
 rostopic echo odom