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ground truth odom (relative to where the model was spawned)#1468
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maxbader wants to merge 1 commit intoros-simulation:ros2from
Open
ground truth odom (relative to where the model was spawned)#1468maxbader wants to merge 1 commit intoros-simulation:ros2from
maxbader wants to merge 1 commit intoros-simulation:ros2from
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Hi
The merge request includes a ground truth odom publisher. This can be optionally enabled with
<publish_odom_ground_truth>true</publish_odom_ground_truth>. Thus, there should be no compatibility problems.The new added ground truth odom publishes the relative position to the initial position. This distinguishes it from odometry_source = ENCODER or WORLD and is an addition.