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Published 20 hours ago • verified publisher icon ros-drivers

updates as requested

Open kylerlaird opened this issue 6 years ago • 1 comments

kylerlaird avatar Apr 11 '18 23:04 kylerlaird

The nav_msgs::Odometry message, as published by the advanced_navigation_driver node in this PR, seems to be incompatible with the odometry message conventions, making it impossible to use the odometry message with other packages such as robot localization[1].

The ROS documentation for odometry messages [2] states: "The twist in this message should be specified in the coordinate frame given by the child_frame_id."

The child_frame_id of the odometry message is set to ins. However, the values are assigned from system state packet with id 20, field 8, 9 and 10, which reports the velocities in the global frame: North, East, Down coordinates, as can be seen in the Spatial Dual Reference Manual.

[1] http://wiki.ros.org/robot_localization [2] http://docs.ros.org/kinetic/api/nav_msgs/html/msg/Odometry.html

P.S. I wanted to create an issue on this on the fork of @kylerlaird , but issues are disabled on that forked repository.

RonaldEnsing avatar Jun 26 '18 12:06 RonaldEnsing