From 0e596a898b0c8ec97779e2f49cb66d49986e56dc Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Mon, 5 Jul 2021 10:27:06 +0200
Subject: [PATCH] Initial commit
---
src/odom_new.cpp | 6 ------
1 file changed, 6 deletions(-)
diff --git a/src/odom_new.cpp b/src/odom_new.cpp
index 3ba526d..2ca4689 100644
--- a/src/odom_new.cpp
+++ b/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;
--
GitLab