Encoder Odometry#78
Open
concavegit wants to merge 8 commits into
Open
Conversation
| @@ -0,0 +1,3 @@ | |||
| float64 wheelbase | |||
Collaborator
There was a problem hiding this comment.
Tell me what this is
| tf2::convert(newOrientation, transformStamped.transform.rotation); | ||
|
|
||
| const auto delta_position = tf2::quatRotate(newOrientation, tf2::Vector3(0, 0, tangentialVel * dt)); | ||
| tf2::convert(delta_position, transformStamped.transform.translation); |
Collaborator
There was a problem hiding this comment.
Something something delta x + old position = new positon
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This subscribes to the diffdrive_raw topic and broadcasts a transform from odom to base_link. There are a few uncertainties, such as my assumption that tf2::Vector3 is implicitly converted from RPY to a quaternion with https://docs.ros.org/kinetic/api/tf2/html/namespacetf2.html#a701335dd7331e8391843b31dd89746a6. However, that is a predictable and harmless fix so we only stand to gain by pushing this into master.