Commit 0e596a89 authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Initial commit

parent 23ff5eb1
......@@ -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;
......
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