This is the minimal changes to allow publishing of smooth odometry when enabled. Reverse-engineering the message, I noticed a missing last field (firmware name/version) and a different version in the 3 token.
Otherwise the message definition seems compliant with the odometry message and the converter seems to work fine also for ODOMSH.
Sharing in case this could be improved or taken as starting point for production ready integration of ODOMSH.
This is the minimal changes to allow publishing of smooth odometry when enabled. Reverse-engineering the message, I noticed a missing last field (firmware name/version) and a different version in the 3 token.
Otherwise the message definition seems compliant with the odometry message and the converter seems to work fine also for ODOMSH.
Sharing in case this could be improved or taken as starting point for production ready integration of ODOMSH.