Relation between cmd_vel and odometry twist data?
I have some short questions please if anyone can answer these questions.
Q1: What will be the unit of angle when we use
angle = tf::getYaw(odom.pose.pose.orientation);
Q2: What should be the unit of linear and angular velocity when setting cmd_vel of diffrential drive robots? i.e.
cmdvel_.linear.x = vt; // (m/s)
cmdvel_.angular.z = w; // (rad/s) is it ok?
Q3: What is the unit of Odometry.twist.twist.angular.z
?
Q4: If I want to find the previous velocity vector from Odometry data. Am I doing right? I want to find velocity vector in Odom frame?
linearV = (odom.twist.twist.linear.x);
angularV = (odom_globalVal.twist.twist.angular.z);
Vx = linearV * cos(angularV); // wrong::its not an angle its angular velocity
Vy = linearV * sin(angularV); // wrong
Thanks a lot.
I hope you got to solve your issue! Please, to select the correct Gmapping odometry model noise (srr, srt, str, stt): Is it correct to calculate the RMSE between /cmd_vel/linear/x and /odom/twist/twsit/linear/x for translation and RMSE between /cmd_vel/angular/z and /odom/twist/twist/angular/z for rotation ?