confirm transformation from global velocity vector to Actor's `twist`

rayvburn / hubero

HuBeRo - a Framework to Simulate Human Behaviour in Robot Research

https://github.com/rayvburn/hubero

BSD 3-Clause "New" or "Revised" License

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Open rayvburn opened 2 years ago

rayvburn commented 2 years ago

Navigation stack's odometry requires Twist to be defined in actor (robot base) coordinates

rayvburn commented 11 months ago

The version implemented currently is for nonholonomic actors