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Fix angular velocity direction of diff_drive_controller odometry #281

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merged 1 commit into from
Jan 5, 2022
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Fix angular velocity direction of diff_drive_controller odometry #281

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2 changes: 1 addition & 1 deletion diff_drive_controller/src/odometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ bool Odometry::updateFromVelocity(double left_vel, double right_vel, const rclcp
// Compute linear and angular diff:
const double linear = (left_vel + right_vel) * 0.5;
// Now there is a bug about scout angular velocity
const double angular = (left_vel - right_vel) / wheel_separation_;
const double angular = (right_vel - left_vel) / wheel_separation_;

// Integrate odometry:
integrateExact(linear, angular);
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