Fix wrong twist in odometry messages #284
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@wouter-heerwegh care to take a look at the changes? |
wouter-heerwegh
requested changes
Feb 8, 2022
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Hey @wouter-heerwegh, I've implemented the computation for sideways velocity using the yaw angle to compute it from map frame velocities. However, transforming the angular velocities is quite difficult, and I think is not necessary, because when the car rolls and pitches what matters to people is the actual roll and pitch, and very rarely the roll rate or pitch rate. I honestly can't think of any practical use for those values, but if any is found someone more experienced than me can write the appropriate transformation code. |
wouter-heerwegh
approved these changes
Jul 16, 2022
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As discussed in #283