From 3eb3410094cd501fbcab4263cf0957381cea2c0e Mon Sep 17 00:00:00 2001 From: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com> Date: Thu, 16 Jan 2025 11:29:46 +0100 Subject: [PATCH] Update encoder_odom_publisher.py --- nodes/encoder_odom_publisher.py | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/nodes/encoder_odom_publisher.py b/nodes/encoder_odom_publisher.py index ff10a5d..9caf6b0 100644 --- a/nodes/encoder_odom_publisher.py +++ b/nodes/encoder_odom_publisher.py @@ -98,6 +98,15 @@ class EncoderOdometry: odom.twist.twist.linear.x = v odom.twist.twist.angular.z = omega + # Include Covariance Matrix + # 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 odometry to /odom_new rospy.logdebug("Publishing Odometry message.") self.odom_pub.publish(odom)