Initial commit

src/odom_new.cpp

@@ -69,12 +69,6 @@ class OdomNew
       //this->x  = 
       //this->y  = 
       //this->th = 
-      vx        = this->radius*( left_vel  + right_vel) / 2.0;
-      vth       = this->radius*( right_vel - left_vel ) / this->wheel_distance;
-      this->x  += vx * cos(this->th) * dt;
-      this->y  += vx * sin(this->th) * dt;
-      this->th += vth * dt;
-
       //////// TODO //////
       
       this->odom_msg.header.stamp = time;