#5 Odometry Sensor

[Benjamin Balaguer]

Hey everyone,

Stefano Carpin and I (Benjamin Balaguer) have found out that the odometry sensor is not working properly. The angle returned through the message is off by about 1 radian after a 360 degree robot rotation. Since the x and y components of the odometry are calculated based on that angle, they are also off.

I believe that the odometry is significantly off, making it a bug rather than the error in odometry.

While I took a quick look at the function, I was unable to find a quick fix, mostly because I am unfamiliar with the code. I would suggest getting whoever built the odometry sensor (Jijun?) to try and fix it. If time permits, I will take a deeper look into it...

Thanks in advance,
Ben