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yjHuang251
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Feb 8, 2026
| this->first_odom_cb = false; | ||
| return; | ||
| } | ||
| double odom_time = stamp.nanoseconds() * 1e-9; |
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it's in wheel callback so actually the variable name should be wheel_time
yjHuang251
reviewed
Feb 8, 2026
| } | ||
| double odom_time = stamp.nanoseconds() * 1e-9; | ||
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| double dt = odom_time - this->prev_odom_time; |
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also replace all the variables from odom to wheel. the reason is that odometry is a method which calculates relative pose tracking and is not limited to wheel information.
yjHuang251
approved these changes
Feb 8, 2026
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Fix:
1.double time error and use nanoseconds()
2.prevent repeated wheel delta integration in imu callback
Result:
local_pose error within 2cm