cccleon

> It looks like the MecanumDrive system lacks an updateOdometry function unlike the ackermann and diffDrive systems. To get odom and TF you'll need to first calculate accurate odom for...

## Desired behavior Add updateOdometry function in MecanumDrive.cc ## Implementation suggestion Caculate the odometry message from joint states and publish. ## Additional context Maybe users can specify the and in...

Tested on melodic, it works well in simulation. 1. Download the "forward-predict" branch(in desktop) and save the amcl.patch, then download the master branch in your workspace. 2. Download the "indigo-devel"...