From da6b69e55b398f84722a485cb8b2d9b19aab4377 Mon Sep 17 00:00:00 2001
From: eharlan <eharlan@uni-bremen.de>
Date: Wed, 24 May 2023 16:10:00 +0200
Subject: [PATCH] a
---
robomaster_pi/conn_odom.py | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/robomaster_pi/conn_odom.py b/robomaster_pi/conn_odom.py
index 1e41af7..260e7b0 100644
--- a/robomaster_pi/conn_odom.py
+++ b/robomaster_pi/conn_odom.py
@@ -38,16 +38,16 @@ class OdometryPublisher(Node):
def publish_odometry(self):
- q = self.quaternion_from_euler(0, 0, -self.yaw / (180 / math.pi))
+ q = self.quaternion_from_euler(0.0, 0.0, -self.yaw / (180 / math.pi))
msg = Odometry()
msg.header.stamp = self.get_clock().now().to_msg()
msg.pose.pose.position.x = self.x
msg.pose.pose.position.y = -self.y
msg.pose.pose.position.z = 0.0
- msg.pose.pose.orientation.x = 0.0
- msg.pose.pose.orientation.y = 0.0
+ msg.pose.pose.orientation.x = q[0]
+ msg.pose.pose.orientation.y = q[1]
msg.pose.pose.orientation.z = q[2]
- msg.pose.pose.orientation.w = 0.0
+ msg.pose.pose.orientation.w = q[3]
self.publisher_.publish(msg)
--
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