/odom reports non-zero y velocity

strands-project / strands_morse

A MORSE-based simulation for the STRANDS project

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/odom reports non-zero y velocity #96

Open cburbridge opened 9 years ago

cburbridge commented 9 years ago

'/odom' reports a very small non-zero y velocity when driving normally. When sliding along an object it reports higher velocities. It should always report zero since this is how the real-world scitos behaves.

This interferes with the DWA planner, and may be related to #66.

kunzel commented 9 years ago

PR #101 fixes this issue by republishing the odometry message from morse.

The issue of the drifting robot should also be fixed. There were still little cracks in the floor.