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AutoRally / autorally

Software for the AutoRally platform
http://autorally.github.io
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child_frame_id of odometry message is not set in autorally_plant.cpp #89

Closed sayali-purdue closed 4 years ago

sayali-purdue commented 4 years ago

As per the http://docs.ros.org/melodic/api/nav_msgs/html/msg/Odometry.html, The twist in the odometry message should be specified in the coordinate frame given by the child_frame_id.

In https://github.com/AutoRally/autorally/blob/melodic-devel/autorally_control/src/path_integral/autorally_plant.cpp:

the twist has been set for the variable 'subscribed_state' of type nav_msgs::Odometry (declared at line #310), however no child_frame_id is set.

I would like to know the following:

  1. Which frame the twist in this message belongs to?
  2. Why is the child_frame_id not set?

Thank you!

JasonGibson274 commented 4 years ago

Closing duplicate issue see #90