RoboticaUtnFrba / create_autonomy

ROS autonomy stack for iRobot Create 2.

BSD 3-Clause "New" or "Revised" License

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Fix odom vel in diff-drive plugin when the robot is moving backward #228

Closed eborghi10 closed 3 years ago

eborghi10 commented 3 years ago

Description

/odom topic doesn't publish negative velocities when moving backward. This PR creates a copy of that plugin to introduce the fix: https://github.com/ros-simulation/gazebo_ros_pkgs/pull/976

Type of change

Please delete options that are not relevant.

[X] Bug fix (non-breaking change which fixes an issue)

How Has This Been Tested?

# Run RViz
RVIZ=true GUI=false roslaunch ca_gazebo create_empty_world.launch
# Move the robot with teleop
roslaunch ca_tools keyboard_teleop.launch

Test Configuration:

[X] Gazebo simulation

Checklist:

[x] My code follows the style guidelines of this project (Travis CI is passing)
[x] I have performed a self-review of my own code
[x] I have commented my code, particularly in hard-to-understand areas
[x] I have made corresponding changes to the documentation
[x] My changes generate no new warnings
[x] I have added tests that prove my fix is effective or that my feature works
[x] New and existing unit tests pass locally with my changes