From 0b10dcb59ed541624c22b0bbf0d35cc16928d301 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 17 Oct 2019 17:51:12 +0900 Subject: [PATCH] add covariance for odom.pose --- .../jsk_fetch_startup/scripts/odom_corrector.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py index ff0c61be5c2..d6f37c8f385 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py @@ -14,12 +14,13 @@ def __init__(self): '~output', Odometry, queue_size=1) self.covariance = [1e-3, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, - 0, 0, 1e-6, 0, 0, 0, - 0, 0, 0, 1e-6, 0, 0, - 0, 0, 0, 0, 1e-6, 0, + 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3] def _cb(self, msg): + msg.pose.covariance = self.covariance msg.twist.covariance = self.covariance self.pub.publish(msg)