Is Stage simulator holonomic odometry bugged?
Hi, I'm using stage_ros package together with amcl. The robot is holonomic and I control it with joystick. When I move it sideways (along axis y in robot's coordinate frame) amcl thinks it moves the other way. There is no problem with movement along x axis (in robot's frame). The problem exists regardless of robot's angular orientation in global frame.
Is Stage odometry bugged?
My hypothesis is that sign in y component when computing displacement is wrong, I think it should be:
delta_global_x = (speed_x * cos(theta) - speed_y * sin(theta)) * dt delta_global_y = (speed_x * sin(theta) + speed_y * cos(theta)) * dt
While probably it is:
delta_global_x = (speed_x * cos(theta) + speed_y * sin(theta)) * dt delta_global_y = (speed_x * sin(theta) - speed_y * cos(theta)) * dt
Unfortunately, I didn't find Stage source code, is it available? Any thoughts? Maybe there is another reason I don't see?
Cheers
