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Update encoder_odom_publisher.py

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bjoernellens1 2025-01-16 10:57:12 +01:00 committed by GitHub
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commit a1355df7e5
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1 changed files with 3 additions and 3 deletions
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nodes/encoder_odom_publisher.py
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@ -24,8 +24,8 @@ class EncoderOdometry:
self.last_r_ticks = None
self.last_time = None
# ROS publishers
self.odom_pub = rospy.Publisher("/odom", Odometry, queue_size=10)
# ROS publishers (Updated topic to /odom_new)
self.odom_pub = rospy.Publisher("/odom_new", Odometry, queue_size=10)
self.odom_broadcaster = tf.TransformBroadcaster()
# ROS subscriber
@ -88,7 +88,7 @@ class EncoderOdometry:
odom.twist.twist.linear.x = v
odom.twist.twist.angular.z = omega
# Publish odometry
# Publish odometry to /odom_new
self.odom_pub.publish(odom)
# Publish TF transform