I noticed that there is a difference between the definitions of the base links between the opp and ego. This impacts the origin of the odom.pose.pose.position topic and it looks like the opp car has its base link defined at the center of the lidar and the ego has it defined at the very rear of the car...
I think that the opp_odom is the correct configuration, but correct me if I am wrong.
See attached .xarco files
I noticed that there is a difference between the definitions of the base links between the opp and ego. This impacts the origin of the odom.pose.pose.position topic and it looks like the opp car has its base link defined at the center of the lidar and the ego has it defined at the very rear of the car...
I think that the opp_odom is the correct configuration, but correct me if I am wrong. See attached .xarco files
ego_racecar.txt opp_racecar.txt