odom_monitor

A ROS 2 package suite for mobile robot odometry monitoring, diagnostic status reporting, wheel slip detection, Gazebo simulation integration, and multi-topic safety locks.

🚀 Version History & Releases

This repository tracks iterative updates through Git tags:

Tag	Version	Description	Key Features
`v1.0.0`	v1	Initial Odom Monitor	Basic `/odom` topic subscription & distance tracking
`v2.0.0`	v2	Diagnostic Status	Added `/diagnostics` publisher with `DiagnosticStatus` messages
`v3.0.0`	v3	Slip Detection	Added wheel slip detection algorithms & `slip_tester` node
`v4.0.0`	v4	Gazebo Simulation	Added Gazebo SIM launch (`sim_launch.py`), `gz_bridge` config & robot URDF
`v5.0.0`	v5	Safety & Twist Mux	Added `twist_mux_locks.yaml` and multi-topic safety locks

🌿 Repository Structure

main Branch: Unified ROS 2 package src/odom_monitor updated through version milestones.
all-versions Branch: Contains all original separate development folders (odom_monitor_v1 through odom_monitor_v5) preserved intact.

🛠 Build & Installation

Ensure ROS 2 environment is sourced, then build the workspace:

cd ~/mini_project
colcon build --symlink-install
source install/setup.bash

Running Nodes

Monitor Node:
```
ros2 run odom_monitor monitor_node
```
Slip Tester:
```
ros2 run odom_monitor slip_tester
```
Gazebo Simulation:
```
ros2 launch odom_monitor sim_launch.py
```