Car-like robot publish '/odom' using ros_control

[TifferPelode]

Hello everyone,

I'm new in ackermann control, and I wanna use ros_control to move my car-like robot.

It's front wheel steering controlled by a motor, and can get a rotation angular(-pi/6, pi/6); rear wheel use one motor, output linear speed.

I also calculate its wheelbase and min_turning_radius.

Now I wanna know how to modify ackermann_controller to satisfy my base to publish a 'odom' topic?

Thanks.

[mikepurvis]

Take a look at diff_drive_controller: https://github.com/ros-controls/ros_controllers/tree/melodic-devel/diff_drive_controller

You would need to write something similar for ackermann/tricycle vehicles.