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I think I might have fixed the issue. Apparently rotating makes the lookupTwist think its somehow spinning around the reference point.

Anyways, after playing around with the parameters, I think I finally have the correct velocity values.

listener.lookupTwist("/map", "/sim_object", "map", tf::Point(), "sim_track", ros::Time(0), ros::Duration(0.1), objectTwist);

I really don't have an idea what "tf::Point()" is suppose to do. I would love if someone can explain to me exactly what the above code is doing and why it fixed my issue.

I think I might have fixed the issue. Apparently rotating makes the lookupTwist think its somehow spinning around the reference point. my issue

Anyways, after playing around with the parameters, I think I finally have the correct velocity values.

listener.lookupTwist("/map", "/sim_object", listener.lookupTwist("/sim_object", "/map", "sim_object", tf::Point(), "map", tf::Point(), "sim_track", ros::Time(0), ros::Duration(0.1), objectTwist);

I really don't have an idea what "tf::Point()" is suppose to do. I would love if someone can explain to me exactly what the above code is doing and why it fixed my issue.doing.