Add use_twist_covariance ROS param and logic to Imu2D differential orientation measurements #178
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This makes the Odometry2D do the same as the Imu2D.
For differential orientation measurements.
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@svwilliams @ayrton04 for review |
efernandez
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efernandez
changed the title
svwilliams
approved these changes
Apr 23, 2020
ayrton04
approved these changes
Apr 23, 2020
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This simply adds the
use_twist_covarianceROS param and logic to theImu2Dsensor model, which is equivalent to the one added to theOdometry2Dsensor model in #138I also did two additional minor changes:
std::movethe currentposeinto theprevious_pose_inOdometry2D, so it's doing the same asImu2D, which seems more efficient.pose_relative_covariancedeclaration inprocessDifferentialPoseWithTwistCovariance()closer to where it's used.