ellensohn/cps_rmp220_support
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Your Name 2025-01-16 10:24:25 +01:00
parent e7c3bd50ed
commit 2b406cf7a7
1 changed files with 8 additions and 0 deletions
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8
nodes/odom_normalizer.py
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@ -37,6 +37,14 @@ def odom_callback(msg):
odom_normalized.pose.covariance = msg.pose.covariance
odom_normalized.twist = msg.twist # Copy twist data
# Include covariance
odom_normalized.pose.covariance = [0.01, 0, 0, 0, 0, 0,
0, 0.01, 0, 0, 0, 0,
0, 0, 0.01, 0, 0, 0,
0, 0, 0, 0.01, 0, 0,
0, 0, 0, 0, 0.01, 0,
0, 0, 0, 0, 0, 0.01]
# Publish normalized odom
pub.publish(odom_normalized)