Following the odometry publisher plugin description, both pose and twist messages should be noisy but only the twist has noise. (Notice the blue point in the graph corresponding the model pose).
Alternatives considered
Checking the source code, pose in odometry message is built directly getting the model pose in world:
Desired behavior
Following the odometry publisher plugin description, both pose and twist messages should be noisy but only the twist has noise. (Notice the blue point in the graph corresponding the model pose).
Alternatives considered
Checking the source code, pose in odometry message is built directly getting the model pose in world:
https://github.com/gazebosim/gz-sim/blob/990f1c27d4f2ef69740bab433be6e8b7206d39ac/src/systems/odometry_publisher/OdometryPublisher.cc#L358-L366
Implementation suggestion
I guess the better way to do it to integrate noisy velocity to get pose with some drift.
Additional context
I used Gazebo Sim, version 8.3.0, installed by binaries. But, I copied OdometryPublisher from
gz-sim9branch and compiled it manually.