From b915bdcca8efbce8cb2400a38e1bbc2c5f6fa218 Mon Sep 17 00:00:00 2001
From: daviddudas <david.dudas@outlook.com>
Date: Sun, 18 Oct 2020 18:01:17 +0200
Subject: [PATCH] correct missing y velocity
---
nodes/mecanum_drive_odometry | 1 +
1 file changed, 1 insertion(+)
diff --git a/nodes/mecanum_drive_odometry b/nodes/mecanum_drive_odometry
index a43e748..e0e1986 100755
--- a/nodes/mecanum_drive_odometry
+++ b/nodes/mecanum_drive_odometry
@@ -93,6 +93,7 @@ class OdometryNode:
odom.pose.pose.orientation.z = q[2]
odom.pose.pose.orientation.w = q[3]
odom.twist.twist.linear.x = pose.xVel
+ odom.twist.twist.linear.y = pose.yVel
odom.twist.twist.angular.z = pose.thetaVel
odom.pose.covariance = ODOM_POSE_COVARIANCE
odom.twist.covariance = ODOM_TWIST_COVARIANCE
--
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