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Update encoder_odom_publisher.py

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bjoernellens1 2025-01-16 11:29:46 +01:00 committed by GitHub
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nodes/encoder_odom_publisher.py
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@ -98,6 +98,15 @@ class EncoderOdometry:
odom.twist.twist.linear.x = v odom.twist.twist.linear.x = v
odom.twist.twist.angular.z = omega 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 # Publish odometry to /odom_new
rospy.logdebug("Publishing Odometry message.") rospy.logdebug("Publishing Odometry message.")
self.odom_pub.publish(odom) self.odom_pub.publish(odom)