Open ccny-ros-pkg opened 1 month ago
https://github1s.com/gaoxiang12/slam_in_autonomous_driving/blob/master/src/ch3/eskf.hpp#L270-L271
这一段代码应该为:
double velo_l = options_.wheel_radius_ * odom.left_pulse_ * 2 * M_PI / options_.circle_pulse_ * options_.odom_span_;
v=s/t啊 怎么会s*t
https://github1s.com/gaoxiang12/slam_in_autonomous_driving/blob/master/src/ch3/eskf.hpp#L270-L271
这一段代码应该为: