fix: prevent publish inf values, odometry tf not being published

pvandervelde / zinger_swerve_controller

The swerve controller code for the zinger robot

Apache License 2.0

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fix: prevent publish inf values, odometry tf not being published #2

Closed Togn3K closed 5 months ago

Togn3K commented 6 months ago

Hello man! I noticed this same issue: https://github.com/pvandervelde/zinger_swerve_controller/issues/1 so atm I avoid publishing the message if there are some inf values.
Also, testing out slam and known-map navigation, I also noticed that publishing a static TF between "odom" and "base_footprint" causes some problems, so I slightly modified the code to publish tf within the odometry message.

pvandervelde commented 5 months ago

Thanks for the PR. I like the changes but is there any chance you could split the changes in to two PRs? One for the base link stuff and one for the infinity issue? That way I can merge them separately.

Togn3K commented 5 months ago

Ok, for now i will just make a PR for the odometry tf fix for the inf values im doing some tests based on the discussion in the issue https://github.com/pvandervelde/zinger_swerve_controller/issues/1