BUG: Wrong velocities when using the dinova state publisher

INTERACT-tud-amr / dinova

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BUG: Wrong velocities when using the dinova state publisher #21

Closed maxspahn closed 4 months ago

maxspahn commented 4 months ago

I found a bug in the omni_states_publisher.

The velocity data is directly taken from the odometry. However, the odometry is in robot_frame where the omni_states must be in world frame. See code snippet.

https://github.com/INTERACT-tud-amr/dinova/blob/2d2f340e821bf7dbeb69476fa8539b961d338e11/dinova_control/scripts/dinova_state_publisher.py#L110-L134

maxspahn commented 4 months ago

This also applies to the recently merged dingo_state publisher:

https://github.com/INTERACT-tud-amr/dinova/blob/2d2f340e821bf7dbeb69476fa8539b961d338e11/dinova_control/scripts/dingo_state_publisher.py#L66-L71

TomasMerva commented 4 months ago

Fixed in 7101100