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Bug in odometry/tf position fixed: z-coordinate was only integer values #155

alexjung opened this issue Aug 6, 2015 · 1 comment


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commented Aug 6, 2015

I recorded some data flying an AR.Drone 2.0 and was wondering why the z-coordinate of odometry and tf was only jumping between 0, 1, 2 and so on.
I checked ARDroneDriver::PublishOdometry in ardrone_driver.cpp and fixed line 702 from
odo_msg.pose.pose.position.z = navdata_raw.navdata_demo.altitude / 1000;
odo_msg.pose.pose.position.z = navdata_raw.navdata_demo.altitude / 1000.0;

Now I receive continuous values on odometry/tf for the z-coordinate.

Maybe you want to include the change in the git hub version of the driver.


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commented Aug 7, 2015

Good catch. I set it to be fixed in the next release.

@mani-monaj mani-monaj added this to the 1.4.1 milestone Aug 7, 2015

@mani-monaj mani-monaj added the bug label Aug 7, 2015

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