Added the previous gearbox ratio and the distance between wheels as parameters.

cfg/AnaOdom.cfg

@@ -39,8 +39,10 @@ gen = ParameterGenerator()
 
 #       Name                       Type       Reconfiguration level            Description                       Default   Min   Max
 gen.add("encoder_res",             int_t,     0,                               "Encoder resolution in cpr",      100,      1,    10000)
-gen.add("gearbox_ratio",           double_t,  0,                               "Reduction ratio of the gearbox", 38.3,     1.0,  1000.0)
+gen.add("current_gearbox_ratio",   double_t,  0,                               "Current gearbox ratio",          38.3,     1.0,  1000.0)
+gen.add("prev_gearbox_ratio",      double_t,  0,                               "Previous gearbox ratio",         65.5,     1.0,  1000.0)
 gen.add("wheel_radius",            double_t,  0,                               "Radius of the wheel",            0.11,     0.01, 1.0)
+gen.add("wheel_distance",          double_t,  0,                               "Disatance between wheels",       0.4,      0.1,  10.0)
 gen.add("publish_tf",              bool_t,    0,                               "Whether to publish the TF transform",True)
 gen.add("base_link_frame",         str_t,     0,                               "Base link frame id",             "")
 

config/ana_odom.yaml

 encoder_res: 100
-gearbox_ratio: 38.3
+current_gearbox_ratio: 38.3
+prev_gearbox_ratio: 65.5
 wheel_radius: 0.11
+wheel_distance: 0.4
 publish_tf: True
 base_link_frame: ana/odom