diff --git a/nodes/encoder_odom_publisher.py b/nodes/encoder_odom_publisher.py index d1f7e55..b61dc18 100644 --- a/nodes/encoder_odom_publisher.py +++ b/nodes/encoder_odom_publisher.py @@ -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