From 9e6053754b6272650b80a6cda4d379caef500b07 Mon Sep 17 00:00:00 2001 From: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com> Date: Mon, 10 Feb 2025 11:50:51 +0100 Subject: [PATCH] Update encoder_odom_publisher.py increased covariance --- nodes/encoder_odom_publisher.py | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) diff --git a/nodes/encoder_odom_publisher.py b/nodes/encoder_odom_publisher.py index 869627b..7c226b2 100644 --- a/nodes/encoder_odom_publisher.py +++ b/nodes/encoder_odom_publisher.py @@ -104,12 +104,19 @@ class EncoderOdometry: # Include Covariance Matrix # Include covariance - odom.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] + # odom.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] + + odom.pose.covariance = [0.1, 0, 0, 0, 0, 0, # Higher uncertainty in x + 0, 0.1, 0, 0, 0, 0, # Higher uncertainty in y + 0, 0, 0.2, 0, 0, 0, # Higher uncertainty in z (less typical for most robots) + 0, 0, 0, 0.5, 0, 0, # Higher uncertainty in roll + 0, 0, 0, 0, 0.5, 0, # Higher uncertainty in pitch + 0, 0, 0, 0, 0, 0.5] # Higher uncertainty in yaw # Publish odometry to /odom_new rospy.logdebug("Publishing Odometry message.")