From 8f85903eda8c125d780f5e478d9517f35b0b702d Mon Sep 17 00:00:00 2001 From: Achllle Date: Sat, 8 May 2021 18:24:06 +0000 Subject: [PATCH] Remove spurious covariance reset --- ROS/osr/src/rover.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/ROS/osr/src/rover.py b/ROS/osr/src/rover.py index 6253723..64a6be8 100755 --- a/ROS/osr/src/rover.py +++ b/ROS/osr/src/rover.py @@ -325,8 +325,7 @@ def forward_kinematics(self): self.curr_twist.twist.linear.x = drive_angular_velocity * self.wheel_radius # now calculate angular velocity from its relation with linear velocity and turning radius self.curr_twist.twist.angular.z = self.curr_twist.twist.linear.x / self.curr_turning_radius - # covariance - self.curr_twist.covariance = 36 * [0.0,] + if __name__ == '__main__': rospy.init_node('rover', log_level=rospy.INFO)