Encoder and IMU Odometry for a Wheeled Base

Goal

Publish reliable wheel odometry and IMU data for localization and navigation.

Procedure

1. Verify encoder direction and wheel radius.
2. Calibrate IMU orientation.
3. Publish odom and the required TF transform.
4. Compare straight-line travel with measured distance.

Verification

Record the command output, confirm the expected ROS 2 topic or behaviour, and resolve power, TF and device-permission errors before continuing.