diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index a552e523a73d229cb1eedddfc5eb6e6004364668..007a0d4269b6c9bb0f7d247d64824f547f62a973 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -155,6 +155,10 @@ TARGET_LINK_LIBRARIES(test_processor_tracker_landmark ${PROJECT_NAME})
ADD_EXECUTABLE(test_processor_imu test_processor_imu.cpp)
TARGET_LINK_LIBRARIES(test_processor_imu ${PROJECT_NAME})
+# Processor Diff-Drive test
+ADD_EXECUTABLE(test_processor_diff_drive test_diff_drive.cpp)
+TARGET_LINK_LIBRARIES(test_processor_diff_drive ${PROJECT_NAME})
+
# MPU6050 IMU test
#ADD_EXECUTABLE(test_mpu test_mpu.cpp)
#TARGET_LINK_LIBRARIES(test_mpu ${PROJECT_NAME})
diff --git a/src/examples/test_diff_drive.cpp b/src/examples/test_diff_drive.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..30ff3e68280e798848deb5af2313f83cdbb5a731
--- /dev/null
+++ b/src/examples/test_diff_drive.cpp
@@ -0,0 +1,291 @@
+/**
+ * \file test_diff_drive.cpp
+ *
+ * Created on: Oct 26, 2017
+ * \author: Jeremie Deray
+ */
+
+//Wolf
+#include "wolf.h"
+#include "problem.h"
+#include "../sensors/sensor_diff_drive.h"
+#include "../captures/capture_wheel_joint_position.h"
+#include "../processors/processor_diff_drive.h"
+
+//std
+#include <iostream>
+#include <fstream>
+#include <iomanip>
+#include <ctime>
+#include <cmath>
+
+//#define DEBUG_RESULTS
+
+void getOdom2DData(std::ifstream& _stream, wolf::Scalar& _stamp, Eigen::Vector2s& _data)
+{
+ /*
+ * Data are logged as follows :
+ *
+ * header:
+ * seq: xxx
+ * stamp:
+ * secs: xxx
+ * nsecs: xxx
+ * frame_id: ''
+ * twist:
+ * linear:
+ * x: 0.0
+ * y: 0.0
+ * z: 0.0
+ * angular:
+ * x: 0.0
+ * y: 0.0
+ * z: 0.0
+ * ---
+ */
+
+ std::string dummy;
+
+ getline(_stream, dummy); // header:
+ getline(_stream, dummy); // seq: xxx
+ getline(_stream, dummy); // stamp:
+ getline(_stream, dummy); // secs: xxx
+
+ // Find secs
+ std::string sub("secs: ");
+ std::string::size_type i = dummy.find(sub);
+ dummy.erase(i, sub.length());
+
+ _stamp = std::stod(dummy);
+
+ // Find nsecs
+ getline(_stream, dummy); // nsecs: xxx
+ sub = "nsecs: ";
+ i = dummy.find(sub);
+ dummy.erase(i, sub.length());
+
+ _stamp += std::stod(dummy) * wolf::Scalar(1e-9);
+
+ getline(_stream, dummy); // frame_id: ''
+ getline(_stream, dummy); // twist:
+ getline(_stream, dummy); // linear:
+ getline(_stream, dummy); // x: 0.0
+
+ sub = "x: ";
+ i = dummy.find(sub);
+ dummy.erase(i, sub.length());
+
+ _data(0) = std::stod(dummy);
+
+ getline(_stream, dummy); // y: 0.0
+ getline(_stream, dummy); // z: 0.0
+ getline(_stream, dummy); // angular:
+ getline(_stream, dummy); // x: 0.0
+ getline(_stream, dummy); // y: 0.0
+ getline(_stream, dummy); // z: 0.0
+
+ sub = "z: ";
+ i = dummy.find(sub);
+ dummy.erase(i, sub.length());
+
+ _data(1) = std::stod(dummy);
+
+ getline(_stream, dummy); // ---
+}
+
+void readWheelData(std::ifstream &_stream, Eigen::Vector2s &_data)
+{
+ /*
+ * left_wheel_joint_actual_position: [x]
+ * right_wheel_joint_actual_position: [x]
+ * ---
+ */
+
+ std::string dummy;
+ std::string l_brac("[");
+ std::string r_brac("]");
+
+ getline(_stream, dummy);
+
+ unsigned first = dummy.find(l_brac);
+ unsigned last = dummy.find(r_brac);
+
+ //std::cout << "READING : " << dummy.substr(first+1, last-first-1) << std::endl;
+
+ _data(0) = std::stod(dummy.substr(first+1, last-first-1));
+
+ getline(_stream, dummy);
+
+ first = dummy.find(l_brac);
+ last = dummy.find(r_brac);
+
+ //std::cout << "READING : " << dummy.substr(first+1, last-first-1) << std::endl;
+
+ _data(1) = std::stod(dummy.substr(first+1 , last-first-1));
+
+ getline(_stream, dummy);
+}
+
+bool WHEEL_DATA = true;
+bool VERBOSE = false;
+
+int main(int argc, char** argv)
+{
+ using namespace wolf;
+
+ WOLF_INFO("==================== diff drive test ======================");
+
+ //load files containing data
+ std::ifstream data_file;
+ const char * filename;
+
+ if (argc < 2)
+ {
+ WOLF_ERROR("Missing input argument! :"
+ " needs 2 arguments (path to data file & data type "
+ "- velocities or wheel positions).");
+ return EXIT_FAILURE;
+ }
+ else
+ {
+ filename = argv[1];
+ if (argc >= 3) WHEEL_DATA = std::stoi(argv[2]);
+
+ data_file.open(filename);
+
+ WOLF_INFO("Data file: ", filename);
+
+ if (!data_file.is_open())
+ {
+ WOLF_ERROR("Failed to open data files... Exiting");
+ return EXIT_FAILURE;
+ }
+ }
+
+ // Wolf problem
+ ProblemPtr wolf_problem_ptr_ = Problem::create("PO 2D");
+
+ const std::string sensor_name("Main Odometer");
+ Eigen::VectorXs extrinsics(3);
+ extrinsics << 0, 0, 0;
+
+ IntrinsicsBasePtr intrinsics = std::make_shared<IntrinsicsDiffDrive>();
+
+ IntrinsicsDiffDrivePtr intrinsics_diff_drive =
+ std::static_pointer_cast<IntrinsicsDiffDrive>(intrinsics);
+
+ intrinsics_diff_drive->left_radius_ = 0.1;
+ intrinsics_diff_drive->right_radius_ = 0.1;
+ intrinsics_diff_drive->separation_ = 0.3517;
+
+ intrinsics_diff_drive->model_ = wolf::DiffDriveModel::Three_Factor_Model;
+ intrinsics_diff_drive->factors_ = Eigen::Vector3s(1,1,1);
+
+ intrinsics_diff_drive->left_resolution_ = 0.0001653; // [rad]
+ intrinsics_diff_drive->right_resolution_ = 0.0001653; // [rad]
+
+ intrinsics_diff_drive->left_gain_ = 0.01;
+ intrinsics_diff_drive->right_gain_ = 0.01;
+
+ const auto scalar_max = std::numeric_limits<Scalar>::max();
+
+ ProcessorParamsBasePtr processor_params =
+ std::make_shared<ProcessorParamsDiffDrive>(scalar_max, scalar_max, scalar_max);
+
+ SensorBasePtr sensor_ptr =
+ wolf_problem_ptr_->installSensor("DIFF DRIVE", sensor_name, extrinsics, intrinsics);
+
+ WOLF_INFO("Sensor 'DIFF DRIVE' installed.");
+
+ auto diff_drive_sensor_ptr = std::static_pointer_cast<SensorDiffDrive>(sensor_ptr);
+
+ wolf_problem_ptr_->installProcessor("DIFF DRIVE", "Diffential Drive processor", sensor_ptr, processor_params);
+
+ WOLF_INFO("Processor 'DIFF DRIVE' installed.");
+
+ // Time and data variables
+ TimeStamp t;
+ Scalar stamp_secs(0);
+// Scalar period_secs(0.010); //100Hz
+ Scalar period_secs(0.020); //50Hz
+ Eigen::Vector2s data_; data_ << 0,0;
+
+ // Get initial wheel data
+ if (WHEEL_DATA)
+ readWheelData(data_file, data_);
+ else
+ getOdom2DData(data_file, stamp_secs, data_);
+
+ t.set(stamp_secs);
+ auto processor_diff_drive_ptr =
+ std::static_pointer_cast<ProcessorDiffDrive>(wolf_problem_ptr_->getProcessorMotionPtr());
+
+ // Set the origin
+ // Create one capture to store the Odometry data.
+ std::shared_ptr<CaptureWheelJointPosition> data_ptr =
+ std::make_shared<CaptureWheelJointPosition>(t, sensor_ptr, data_, nullptr);
+
+ WOLF_INFO("Process first capture.");
+
+ diff_drive_sensor_ptr->process(data_ptr);
+
+ // main loop
+ clock_t begin = clock();
+
+ while (!data_file.eof())
+ {
+ // read new data
+ if (WHEEL_DATA)
+ {
+ readWheelData(data_file, data_);
+ stamp_secs += period_secs;
+ }
+ else
+ getOdom2DData(data_file, stamp_secs, data_);
+
+ t.set(stamp_secs);
+
+ data_ptr = std::make_shared<CaptureWheelJointPosition>(t, sensor_ptr, data_, nullptr);
+
+ // process data in capture
+ diff_drive_sensor_ptr->process(data_ptr);
+
+ WOLF_INFO_COND(VERBOSE, "At stamp ", stamp_secs,
+ " state ", processor_diff_drive_ptr->getCurrentState().transpose());
+ }
+
+ data_file.close();
+
+ double elapsed_secs = double(clock() - begin) / CLOCKS_PER_SEC;
+
+ // Final state
+ WOLF_INFO("----------------------------------------- "
+ "Integration results "
+ "-----------------------------------------");
+
+ WOLF_INFO("Integrated delta: " , /* std::fixed , std::setprecision(3),*/
+ wolf_problem_ptr_->getProcessorMotionPtr()->getMotion().delta_integr_.transpose());
+ WOLF_INFO("Integrated state: " , /*std::fixed , std::setprecision(3),*/
+ wolf_problem_ptr_->getProcessorMotionPtr()->getCurrentState().transpose());
+ WOLF_INFO("Integrated std : " , /*std::fixed , std::setprecision(3),*/
+ (wolf_problem_ptr_->getProcessorMotionPtr()->getMotion().
+ delta_integr_cov_.diagonal().transpose()).array().sqrt());
+
+ // Print statistics
+ TimeStamp t0, tf;
+ t0 = wolf_problem_ptr_->getProcessorMotionPtr()->getBuffer().get().front().ts_;
+ tf = wolf_problem_ptr_->getProcessorMotionPtr()->getBuffer().get().back().ts_;
+
+ double N = (double)wolf_problem_ptr_->getProcessorMotionPtr()->getBuffer().get().size();
+
+ WOLF_INFO("t0 : " , t0.get() , " secs");
+ WOLF_INFO("tf : " , tf.get() , " secs");
+ WOLF_INFO("duration : " , tf-t0 , " secs");
+ WOLF_INFO("N samples : " , N );
+ WOLF_INFO("frequency : " , (N-1)/(tf-t0) , " Hz" );
+ WOLF_INFO("CPU time : " , elapsed_secs , " s" );
+ WOLF_INFO("s/integr : " , elapsed_secs/(N-1)*1e6 , " us" );
+ WOLF_INFO("integr/s : " , (N-1)/elapsed_secs , " ips" );
+
+ return 0;
+}
diff --git a/src/test/data/diff_drive/wheel_data.txt b/src/test/data/diff_drive/wheel_data.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bbb481871041fe740f358f39ac6842b73e005cc3
--- /dev/null
+++ b/src/test/data/diff_drive/wheel_data.txt
@@ -0,0 +1,10782 @@
+left_wheel_joint_actual_position: [141.47611175400894]
+right_wheel_joint_actual_position: [121.73896511820135]
+---
+left_wheel_joint_actual_position: [141.47611175400894]
+right_wheel_joint_actual_position: [121.73896511820135]
+---
+left_wheel_joint_actual_position: [141.47627707059019]
+right_wheel_joint_actual_position: [121.73913043478261]
+---
+left_wheel_joint_actual_position: [141.47660770375268]
+right_wheel_joint_actual_position: [121.73946106794511]
+---
+left_wheel_joint_actual_position: [141.47743428665896]
+right_wheel_joint_actual_position: [121.73979170110762]
+---
+left_wheel_joint_actual_position: [141.47875681930898]
+right_wheel_joint_actual_position: [121.74012233427013]
+---
+left_wheel_joint_actual_position: [141.48024466854025]
+right_wheel_joint_actual_position: [121.74078360059514]
+---
+left_wheel_joint_actual_position: [141.4825591006778]
+right_wheel_joint_actual_position: [121.7412795503389]
+---
+left_wheel_joint_actual_position: [141.48520416597785]
+right_wheel_joint_actual_position: [121.74227144982642]
+---
+left_wheel_joint_actual_position: [141.48702264837164]
+right_wheel_joint_actual_position: [121.7437592990577]
+---
+left_wheel_joint_actual_position: [141.48834518102166]
+right_wheel_joint_actual_position: [121.74574309803273]
+---
+left_wheel_joint_actual_position: [141.49016366341544]
+right_wheel_joint_actual_position: [121.74822284675153]
+---
+left_wheel_joint_actual_position: [141.49330467845925]
+right_wheel_joint_actual_position: [121.75070259547033]
+---
+left_wheel_joint_actual_position: [141.49760290957184]
+right_wheel_joint_actual_position: [121.75351297735163]
+---
+left_wheel_joint_actual_position: [141.50107455777814]
+right_wheel_joint_actual_position: [121.7578112084642]
+---
+left_wheel_joint_actual_position: [141.50487683914696]
+right_wheel_joint_actual_position: [121.76326665564557]
+---
+left_wheel_joint_actual_position: [141.51132418581582]
+right_wheel_joint_actual_position: [121.76789551992064]
+---
+left_wheel_joint_actual_position: [141.51677963299718]
+right_wheel_joint_actual_position: [121.77450818317077]
+---
+left_wheel_joint_actual_position: [141.52372292940981]
+right_wheel_joint_actual_position: [121.78112084642089]
+---
+left_wheel_joint_actual_position: [141.53066622582244]
+right_wheel_joint_actual_position: [121.78889072573979]
+---
+left_wheel_joint_actual_position: [141.53843610514136]
+right_wheel_joint_actual_position: [121.79831377087122]
+---
+left_wheel_joint_actual_position: [141.54818978343528]
+right_wheel_joint_actual_position: [121.8079021325839]
+---
+left_wheel_joint_actual_position: [141.55926599437925]
+right_wheel_joint_actual_position: [121.81815176062159]
+---
+left_wheel_joint_actual_position: [141.5706728384857]
+right_wheel_joint_actual_position: [121.82955860472805]
+---
+left_wheel_joint_actual_position: [141.5837328484047]
+right_wheel_joint_actual_position: [121.84228798148455]
+---
+left_wheel_joint_actual_position: [141.59795007439246]
+right_wheel_joint_actual_position: [121.85600925772854]
+---
+left_wheel_joint_actual_position: [141.612663250124]
+right_wheel_joint_actual_position: [121.87121838320384]
+---
+left_wheel_joint_actual_position: [141.62803769218053]
+right_wheel_joint_actual_position: [121.88642750867912]
+---
+left_wheel_joint_actual_position: [141.64605719953713]
+right_wheel_joint_actual_position: [121.90114068441065]
+---
+left_wheel_joint_actual_position: [141.66457265663746]
+right_wheel_joint_actual_position: [121.91816829227972]
+---
+left_wheel_joint_actual_position: [141.6830881137378]
+right_wheel_joint_actual_position: [121.93635311621756]
+---
+left_wheel_joint_actual_position: [141.70193420400065]
+right_wheel_joint_actual_position: [121.95437262357414]
+---
+left_wheel_joint_actual_position: [141.7225987766573]
+right_wheel_joint_actual_position: [121.97189618118698]
+---
+left_wheel_joint_actual_position: [141.74326334931393]
+right_wheel_joint_actual_position: [121.99140353777484]
+---
+left_wheel_joint_actual_position: [141.76541577120184]
+right_wheel_joint_actual_position: [122.01157216068772]
+---
+left_wheel_joint_actual_position: [141.78822945941477]
+right_wheel_joint_actual_position: [122.03107951727559]
+---
+left_wheel_joint_actual_position: [141.81186973053397]
+right_wheel_joint_actual_position: [122.05339725574476]
+---
+left_wheel_joint_actual_position: [141.83650190114068]
+right_wheel_joint_actual_position: [122.07621094395768]
+---
+left_wheel_joint_actual_position: [141.86163002149115]
+right_wheel_joint_actual_position: [122.09952058191436]
+---
+left_wheel_joint_actual_position: [141.8854356091916]
+right_wheel_joint_actual_position: [122.12349148619606]
+---
+left_wheel_joint_actual_position: [141.9112249958671]
+right_wheel_joint_actual_position: [122.15043808894032]
+---
+left_wheel_joint_actual_position: [141.9383369151926]
+right_wheel_joint_actual_position: [122.17821127459084]
+---
+left_wheel_joint_actual_position: [141.9651182013556]
+right_wheel_joint_actual_position: [122.20697635972888]
+---
+left_wheel_joint_actual_position: [141.99239543726236]
+right_wheel_joint_actual_position: [122.23574144486692]
+---
+left_wheel_joint_actual_position: [142.0196726731691]
+right_wheel_joint_actual_position: [122.26632501239874]
+---
+left_wheel_joint_actual_position: [142.04777649198215]
+right_wheel_joint_actual_position: [122.29790047941809]
+---
+left_wheel_joint_actual_position: [142.0781947429327]
+right_wheel_joint_actual_position: [122.3281534137874]
+---
+left_wheel_joint_actual_position: [142.10662919490824]
+right_wheel_joint_actual_position: [122.35890229790049]
+---
+left_wheel_joint_actual_position: [142.1375433956026]
+right_wheel_joint_actual_position: [122.3888245991073]
+---
+left_wheel_joint_actual_position: [142.16614316415937]
+right_wheel_joint_actual_position: [122.4184162671516]
+---
+left_wheel_joint_actual_position: [142.1973879980162]
+right_wheel_joint_actual_position: [122.45230616630847]
+---
+left_wheel_joint_actual_position: [142.22962473136056]
+right_wheel_joint_actual_position: [122.48454289965284]
+---
+left_wheel_joint_actual_position: [142.2608695652174]
+right_wheel_joint_actual_position: [122.51711026615969]
+---
+left_wheel_joint_actual_position: [142.29211439907422]
+right_wheel_joint_actual_position: [122.55133079847909]
+---
+left_wheel_joint_actual_position: [142.32633493139363]
+right_wheel_joint_actual_position: [122.58720449661101]
+---
+left_wheel_joint_actual_position: [142.35939824764424]
+right_wheel_joint_actual_position: [122.6239047776492]
+---
+left_wheel_joint_actual_position: [142.39213093073235]
+right_wheel_joint_actual_position: [122.65895189287485]
+---
+left_wheel_joint_actual_position: [142.4268474127955]
+right_wheel_joint_actual_position: [122.69532154075054]
+---
+left_wheel_joint_actual_position: [142.46239047776493]
+right_wheel_joint_actual_position: [122.73218713836998]
+---
+left_wheel_joint_actual_position: [142.49876012564062]
+right_wheel_joint_actual_position: [122.76888741940817]
+---
+left_wheel_joint_actual_position: [142.53479914035378]
+right_wheel_joint_actual_position: [122.80641428335262]
+---
+left_wheel_joint_actual_position: [142.57282195404198]
+right_wheel_joint_actual_position: [122.84609026285337]
+---
+left_wheel_joint_actual_position: [142.61067945114894]
+right_wheel_joint_actual_position: [122.88741940816664]
+---
+left_wheel_joint_actual_position: [142.65052074723096]
+right_wheel_joint_actual_position: [122.93023640271119]
+---
+left_wheel_joint_actual_position: [142.68903951066292]
+right_wheel_joint_actual_position: [122.97189618118698]
+---
+left_wheel_joint_actual_position: [142.7288808067449]
+right_wheel_joint_actual_position: [123.013060009919]
+---
+left_wheel_joint_actual_position: [142.7708712183832]
+right_wheel_joint_actual_position: [123.05405852206977]
+---
+left_wheel_joint_actual_position: [142.813192263184]
+right_wheel_joint_actual_position: [123.09423045131426]
+---
+left_wheel_joint_actual_position: [142.8561745743098]
+right_wheel_joint_actual_position: [123.13473301372127]
+---
+left_wheel_joint_actual_position: [142.8994875185981]
+right_wheel_joint_actual_position: [123.1762274756158]
+---
+left_wheel_joint_actual_position: [142.9442883121177]
+right_wheel_joint_actual_position: [123.21755662092907]
+---
+left_wheel_joint_actual_position: [142.98776657298728]
+right_wheel_joint_actual_position: [123.25954703256737]
+---
+left_wheel_joint_actual_position: [143.03289799966936]
+right_wheel_joint_actual_position: [123.30335592659944]
+---
+left_wheel_joint_actual_position: [143.07769879318894]
+right_wheel_joint_actual_position: [123.34584228798148]
+---
+left_wheel_joint_actual_position: [143.12316085303357]
+right_wheel_joint_actual_position: [123.3863448503885]
+---
+left_wheel_joint_actual_position: [143.17225987766574]
+right_wheel_joint_actual_position: [123.43064969416433]
+---
+left_wheel_joint_actual_position: [143.21689535460408]
+right_wheel_joint_actual_position: [123.47511985452141]
+---
+left_wheel_joint_actual_position: [143.26483716316747]
+right_wheel_joint_actual_position: [123.52223508017855]
+---
+left_wheel_joint_actual_position: [143.3112911224996]
+right_wheel_joint_actual_position: [123.56951562241693]
+---
+left_wheel_joint_actual_position: [143.35890229790047]
+right_wheel_joint_actual_position: [123.61977186311788]
+---
+left_wheel_joint_actual_position: [143.40800132253264]
+right_wheel_joint_actual_position: [123.66837493800628]
+---
+left_wheel_joint_actual_position: [143.45627376425855]
+right_wheel_joint_actual_position: [123.71780459580096]
+---
+left_wheel_joint_actual_position: [143.50421557282195]
+right_wheel_joint_actual_position: [123.76706893701439]
+---
+left_wheel_joint_actual_position: [143.55281864771035]
+right_wheel_joint_actual_position: [123.81831707720285]
+---
+left_wheel_joint_actual_position: [143.60224830550504]
+right_wheel_joint_actual_position: [123.87138369978508]
+---
+left_wheel_joint_actual_position: [143.653827078856]
+right_wheel_joint_actual_position: [123.92461563894858]
+---
+left_wheel_joint_actual_position: [143.70457926930072]
+right_wheel_joint_actual_position: [123.9785088444371]
+---
+left_wheel_joint_actual_position: [143.75516614316416]
+right_wheel_joint_actual_position: [124.03141015043809]
+---
+left_wheel_joint_actual_position: [143.80773681600263]
+right_wheel_joint_actual_position: [124.08464208960159]
+---
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+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
+left_wheel_joint_actual_position: [273.03157546701937]
+right_wheel_joint_actual_position: [258.9107290461233]
+---
\ No newline at end of file