state estimator publishes global velocities instead of local velocities

AutoRally / autorally

Software for the AutoRally platform

http://autorally.github.io

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state estimator publishes global velocities instead of local velocities #41

Open dpattison3 opened 8 years ago

dpattison3 commented 8 years ago

The state estimator node publishes the twist portion of its message in the global reference frame it is creating. It is the convention for odom messages to publish the twist in the child frame. This is not necessarily a bug, just something to consider if not already known.