From 2b406cf7a70027d653b9a3f6649e0fa86fee7aeb Mon Sep 17 00:00:00 2001 From: Your Name Date: Thu, 16 Jan 2025 10:24:25 +0100 Subject: [PATCH] update --- nodes/odom_normalizer.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/nodes/odom_normalizer.py b/nodes/odom_normalizer.py index c819bea..b2cc269 100644 --- a/nodes/odom_normalizer.py +++ b/nodes/odom_normalizer.py @@ -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)