Revert "make the ROS odometry (yaw) consistent with non-ROS"

This reverts commit 962db84.
facebookresearch · Sep 11, 2022 · ffae3ff · ffae3ff
1 parent 3308290
commit ffae3ff
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/droidlet/lowlevel/hello_robot/remote/stretch_ros_move_api.py b/droidlet/lowlevel/hello_robot/remote/stretch_ros_move_api.py
@@ -77,8 +77,7 @@ def get_slam_pose(self):
                 ]
             )
             euler = euler_from_quaternion(quat)
-            yaw = euler[2] + math.pi
-            return (pose.pose.pose.position.x, pose.pose.pose.position.y, yaw)
+            return (pose.pose.pose.position.x, pose.pose.pose.position.y, euler[2])
         else:
             return (0.0, 0.0, 0.0)
 
@@ -100,8 +99,7 @@ def get_odom(self):
             ]
         )
         euler = euler_from_quaternion(quat)
-        yaw = euler[2] + math.pi
-        return (pose.pose.position.x, pose.pose.position.y, yaw)
+        return (pose.pose.position.x, pose.pose.position.y, euler[2])
 
     def get_joint_state(self, name=None):
         with self._lock: