Publish odom twist in robot-local coordinates

ros-simulation / gazebo_ros_pkgs

Wrappers, tools and additional API's for using ROS with Gazebo

http://wiki.ros.org/gazebo_ros_pkgs

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Publish odom twist in robot-local coordinates #1531

Closed Martin-Oehler closed 3 months ago

Martin-Oehler commented 3 months ago

Hello everyone, according to nav_msgs/Odometry, the twist message should be specified in the coordinate frame given by the (local) child_frame_id. Currently, the plugin publishes twist in the (global) header.frame_id coordinate frame.

I added a boolean parameter to change this behavior to the documented one. It defaults to false to not break legacy code.

Best regards, Martin