DIFF DRIVE: wheel odometry twist is child frame #719
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This is changing the behavior for users. Given the early moment of Melodic I'm going to accept it but for the other branches we would need a PR with legacy protection. |
This was referenced May 25, 2018
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#717. In the diff drive plugin in with odometry source set to ENCODER, twist is published in global frame. This is against the convention specified in the Odometry message and inconsistent with there other mode (WORLD), where twist is published in the child frame.