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child_frame_id of odometry message is not set in autorally_plant.cpp #89

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sayali-purdue opened this issue Apr 21, 2020 · 1 comment

sayali-purdue commented Apr 21, 2020

As per the http://docs.ros.org/melodic/api/nav_msgs/html/msg/Odometry.html, The twist in the odometry message should be specified in the coordinate frame given by the child_frame_id.

In https://github.com/AutoRally/autorally/blob/melodic-devel/autorally_control/src/path_integral/autorally_plant.cpp:

the twist has been set for the variable 'subscribed_state' of type nav_msgs::Odometry (declared at line #310), however no child_frame_id is set.

I would like to know the following:

Which frame the twist in this message belongs to?
Why is the child_frame_id not set?

Thank you!

Contributor

JasonGibson274 commented Jun 12, 2020

Closing duplicate issue see #90

JasonGibson274 closed this as completed

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