ellensohn/cps_rmp220_support
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Your Name 2025-01-15 13:48:25 +01:00
parent 9fd47a2a55
commit 459a916c82
1 changed files with 2 additions and 2 deletions
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4
nodes/odom_publisher.cpp
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@ -42,8 +42,8 @@ int main(int argc, char** argv) {
// Compute odometry based on subscribed velocity data
double dt = (current_time - last_time).toSec();
double delta_x = (vx * cos(th) - vy * sin(th)) * dt;
double delta_y = (vx * sin(th) + vy * cos(th)) * dt;
double delta_x = (vx * cos(th)) * dt;
double delta_y = (vx * sin(th)) * dt;
double delta_th = vth * dt;
x += delta_x;