From 7f797134041dd7cd496b2cdb616de022d7b1f5fc Mon Sep 17 00:00:00 2001 From: daviddudas <david.dudas@outlook.com> Date: Mon, 2 Nov 2020 21:31:06 +0100 Subject: [PATCH] Fix odometry covariances --- nodes/mecanum_drive_odometry | 26 +++++++++++++------------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/nodes/mecanum_drive_odometry b/nodes/mecanum_drive_odometry index e0e1986..66a4577 100755 --- a/nodes/mecanum_drive_odometry +++ b/nodes/mecanum_drive_odometry @@ -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: -- GitLab