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FS-Driverless / Formula-Student-Driverless-Simulator

A virtual world where Autonomous Systems from different Formula Student teams can compete in time-trial challenges
https://fs-driverless.github.io/Formula-Student-Driverless-Simulator
GNU General Public License v2.0
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Fix wrong twist in odometry messages #284

Closed mateusz-lichota closed 2 years ago

mateusz-lichota commented 2 years ago

As discussed in #283

mateusz-lichota commented 2 years ago

@wouter-heerwegh care to take a look at the changes?

mateusz-lichota commented 2 years ago

Hey @wouter-heerwegh, I've implemented the computation for sideways velocity using the yaw angle to compute it from map frame velocities. However, transforming the angular velocities is quite difficult, and I think is not necessary, because when the car rolls and pitches what matters to people is the actual roll and pitch, and very rarely the roll rate or pitch rate. I honestly can't think of any practical use for those values, but if any is found someone more experienced than me can write the appropriate transformation code.