update

CMakeLists.txt

@@ -49,13 +49,22 @@ target_link_libraries(odom_publisher ${catkin_LIBRARIES})
 
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
-catkin_install_python(PROGRAMS
+#catkin_install_python(PROGRAMS
-  nodes/odom_publisher_python.py
+#  nodes/odom_publisher_python.py
-  nodes/odom_publisher_linus.py
+#  nodes/odom_publisher_linus.py
-  nodes/odom_publisher_fromTwist.py
+#  nodes/odom_publisher_fromTwist.py
+#  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#)
+
+# Find all Python scripts in the nodes/ directory
+file(GLOB python_scripts nodes/*.py)
+
+# Mark all found scripts as executable and install them
+catkin_install_python(PROGRAMS ${python_scripts}
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+
 ################################################################################
 # Install
 ################################################################################

nodes/odom_normalizer.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python
+
+import rospy
+from nav_msgs.msg import Odometry
+import numpy as np
+
+def normalize_quaternion(qx, qy, qz, qw):
+    norm = np.sqrt(qx**2 + qy**2 + qz**2 + qw**2)
+    if norm == 0:
+        return 0.0, 0.0, 0.0, 1.0  # Default to unit quaternion
+    return qx / norm, qy / norm, qz / norm, qw / norm
+
+def odom_callback(msg):
+    # Normalize quaternion
+    qx, qy, qz, qw = normalize_quaternion(
+        msg.pose.pose.orientation.x,
+        msg.pose.pose.orientation.y,
+        msg.pose.pose.orientation.z,
+        msg.pose.pose.orientation.w
+    )
+
+    # Create new message
+    odom_normalized = Odometry()
+    odom_normalized.header = msg.header
+    odom_normalized.child_frame_id = msg.child_frame_id
+
+    # Copy position
+    odom_normalized.pose.pose.position = msg.pose.pose.position
+
+    # Set normalized quaternion
+    odom_normalized.pose.pose.orientation.x = qx
+    odom_normalized.pose.pose.orientation.y = qy
+    odom_normalized.pose.pose.orientation.z = qz
+    odom_normalized.pose.pose.orientation.w = qw
+
+    # Copy covariance
+    odom_normalized.pose.covariance = msg.pose.covariance
+    odom_normalized.twist = msg.twist  # Copy twist data
+
+    # Publish normalized odom
+    pub.publish(odom_normalized)
+
+if __name__ == "__main__":
+    rospy.init_node("odom_normalizer")
+
+    # Publisher
+    pub = rospy.Publisher("/odom_normalized", Odometry, queue_size=10)
+
+    # Subscriber
+    rospy.Subscriber("/odom", Odometry, odom_callback)
+
+    rospy.spin()