# simple fake odometry publisher [closed]

I want to test rtabmap. I have d435 camera, but I dont have wheels yet.

So, I want to use simple fake odometry publisher, to publish zeros, to pretend that robot is not moving.

I tried this code, but I am not sure that it is working correctly, because I have got freezes of mapCloud. And I am afraid it is somehow related to this code.

#!/usr/bin/env python

import math
from math import sin, cos, pi

import rospy
import tf
from nav_msgs.msg import Odometry
from geometry_msgs.msg import Point, Pose, Quaternion, Twist, Vector3

rospy.init_node('odometry_publisher')

odom_pub = rospy.Publisher("odom", Odometry, queue_size=50)

x = 0.0
y = 0.0
th = 0.0

vx = 0.0
vy = 0.0
vth = 0.0

current_time = rospy.Time.now()
last_time = rospy.Time.now()

r = rospy.Rate(50.0)
while not rospy.is_shutdown():
current_time = rospy.Time.now()

# compute odometry in a typical way given the velocities of the robot
dt = (current_time - last_time).to_sec()
delta_x = (vx * cos(th) - vy * sin(th)) * dt
delta_y = (vx * sin(th) + vy * cos(th)) * dt
delta_th = vth * dt

x += delta_x
y += delta_y
th += delta_th

# since all odometry is 6DOF we'll need a quaternion created from yaw
odom_quat = tf.transformations.quaternion_from_euler(0, 0, th)

# first, we'll publish the transform over tf

# next, we'll publish the odometry message over ROS
odom = Odometry()

# set the position
odom.pose.pose = Pose(Point(x, y, 0.), Quaternion(*odom_quat))

# set the velocity
odom.twist.twist = Twist(Vector3(vx, vy, 0), Vector3(0, 0, vth))

# publish the message
odom_pub.publish(odom)

last_time = current_time
r.sleep()


Is this code correct to publish zeros in odometry?

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