Fixed Odometry Publisher Angular Velocity Singularity in 3D #2348
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Signed-off-by: Tom Creutz <tcreutz97@gmail.com>
Signed-off-by: Tom Creutz <tcreutz97@gmail.com>
Signed-off-by: Tom Creutz <tcreutz97@gmail.com>
Signed-off-by: Tom Creutz <tcreutz97@gmail.com>
Signed-off-by: Tom Creutz <tcreutz97@gmail.com>
Can you roll back the style changes please? We need to just update the logic without altering the style of the entire file. |
Signed-off-by: Tom Creutz <tcreutz97@gmail.com>
Previously the angular velocity was represented in the world coordinate frame. This change will rotate it to be represented in the body coordinate frame Signed-off-by: Tom Creutz <tcreutz97@gmail.com>
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Hi @mjcarroll, |
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馃 Bug fix
Fixes #2347
Summary
The angular velocity was calculated using euler angles which led to singularities (see #2347 for a more detailed description). In addition to the fix, I also removed the usage of the rolling mean accumulator for angular velocity. While I see its usefulness for outlier rejections, I still didn't really see why this would be necessary. If the maintainers want to keep this mean accumulator, I'll be happy to reimplement it. Also the commit changes seem a bit messy, I was using clang format with the Google C++ Style guide as configuration, which leaded to the changed formatting that you can see in the pull request.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.