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#include <iostream>
#include <ros/ros.h>

#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>

#define DEFAULT_WHEEL_BASE 0.497

#include <signal.h>

#include <atlasmv_base/AtlasmvStatus.h>

using namespace ros;
using namespace std;

void IncommingDataHandler(int);
bool ConvertEstimatedToMeasurment(double vl,double dir,double*dx,double*dy,double*dtheta,double dt,double l,double bwa);

bool new_status_message;
atlasmv_base::AtlasmvStatus base_status;

void StatusMessageHandler(const atlasmv_base::AtlasmvStatus& msg)
{
        base_status=msg;
        new_status_message=true;
}

int main(int argc, char** argv)
{
        ros::init(argc, argv, "atlasmv_egomotion");
        
        ros::NodeHandle n;
        ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("/atlasmv/base/odometry", 50);     // atmv??
        tf::TransformBroadcaster odom_broadcaster;
        
        Subscriber subscribeStatusMessages = n.subscribe ("/atlasmv/base/status", 1, StatusMessageHandler);     // atmv??
        
        double x = 0.0;
        double y = 0.0;
        double th = 0.0;
        
        double vx = 0.0;
        double vy = 0.0;
        double vth = 0.0;
        
        double vl,phi;
        double l;
        
        n.param("wheel_base",l,DEFAULT_WHEEL_BASE);
        
        new_status_message=false;
        
        ros::Time current_time, last_time;
        current_time = ros::Time::now();
        last_time = ros::Time::now();
        
        ros::Rate r(60.0);
        
        ROS_INFO("Starting to spin ...");
        
        while(n.ok())
        {
                spinOnce();     
                r.sleep();
                
                if(!new_status_message)
                        continue;
                
                new_status_message=false;
                
                current_time = ros::Time::now();
                
                vl=base_status.speed;
                phi=base_status.dir;
                
                //compute odometry
                double dt = (current_time - last_time).toSec();
                
                double delta_x;
                double delta_y;
                double delta_th;
                                
                delta_x=cos(th)*cos(phi)*vl*dt;
                delta_y=sin(th)*cos(phi)*vl*dt;
                delta_th=sin(phi/l)*vl*dt;
                
                ROS_INFO("cos(th):%f,cos(phi):%f",cos(th),cos(phi));
                ROS_INFO("dx:%f,dy:%f,dth:%f",delta_x,delta_y,delta_th);
                ROS_INFO("th:%f,phi:%f,vl:%f",th,phi,vl);
                
                vx = delta_x/dt;
                vy = delta_y/dt;
                vth = delta_th/dt;
                
                x += delta_x;
                y += delta_y;
                th += delta_th;
                
                ROS_INFO("dt:%f",dt);
                ROS_INFO("x:%f,y:%f,th:%f",x,y,th);
                ROS_INFO("vx:%f,vy:%f,vth:%f",vx,vy,vth);
                
                //since all odometry is 6DOF we'll need a quaternion created from yaw
                geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(th);
                
                //first, we'll publish the transform over tf
                geometry_msgs::TransformStamped odom_trans;
                odom_trans.header.stamp = current_time;
                odom_trans.header.frame_id = "/odom";
                odom_trans.child_frame_id = "/base_link";
                
                odom_trans.transform.translation.x = x;
                odom_trans.transform.translation.y = y;
                odom_trans.transform.translation.z = 0.0;
                odom_trans.transform.rotation = odom_quat;
                
                //send the transform
                odom_broadcaster.sendTransform(odom_trans);
                
                //next, we'll publish the odometry message over ROS
                nav_msgs::Odometry odom;
                odom.header.stamp = current_time;
                odom.header.frame_id = "/odom";
                
                //set the position
                odom.pose.pose.position.x = x;
                odom.pose.pose.position.y = y;
                
                
                odom.pose.pose.position.z = 0.0;
                odom.pose.pose.orientation = odom_quat;
                
                //set the velocity
                odom.child_frame_id = "/base_link";
                odom.twist.twist.linear.x = vx;
                odom.twist.twist.linear.y = vy;
                odom.twist.twist.angular.z = vth;
                
                //publish the message
                odom_pub.publish(odom);
                
                last_time = current_time;
        }
}

---

atlasmv_base
Author(s): David Gameiro, Jorge Almeida
autogenerated on Wed Jul 23 04:34:43 2014