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Commit 7f797134 authored by daviddudas's avatar daviddudas
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Fix odometry covariances

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nodes/mecanum_drive_odometry
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......@@ -13,19 +13,19 @@ from math import sin, cos
from mecanum_drive.pose import Pose
from mecanum_drive import odometry
ODOM_POSE_COVARIANCE = [1e-3, 0, 0, 0, 0, 0,
0, 1e-3, 0, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e3]
ODOM_TWIST_COVARIANCE = [1e-3, 0, 0, 0, 0, 0,
0, 1e-3, 0, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e3]
ODOM_POSE_COVARIANCE = [1, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0,
0, 0, 1, 0, 0, 0,
0, 0, 0, 99999.0, 0, 0,
0, 0, 0, 0, 99999.0, 0,
0, 0, 0, 0, 0, 1]
ODOM_TWIST_COVARIANCE = [1, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0,
0, 0, 1, 0, 0, 0,
0, 0, 0, 99999.0, 0, 0,
0, 0, 0, 0, 99999.0, 0,
0, 0, 0, 0, 0, 1]
class OdometryNode:
......
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