fixed translation error in odom_comb #12
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kdhansen
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Dec 6, 2023
* Added mir_ready service as a workaround for lifecycle nodes (pythoN)
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Previously, the ekf localization only computed a correct orientation, but the translation still followed the pure odometry data. This led to strange errors where the robot would move sideways (despite only having a diff drive).
This PR changes the ekf configuration to not use any position information from the odometry, but to integrate the velocities, which fixes this problem.