gazebo_ros_diff_drive maximum torque parameter and odometry covariance

asked 2021-03-03 19:32:33 -0500

PLui gravatar image

updated 2022-06-11 10:38:17 -0500

lucasw gravatar image

I was taking a look at the code to understand how gazebo_ros_diff_drive works because I am using Navigation Stack 2 and I could not figure out these two things:

1) What is the maximum torque parameter used for?

2) Where does the values that goes into odometry covariance matrix come from? What is their meaning and are they fixed values or there is an update during simulation?

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