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hkandir
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I updated the merge request as it shows ros2 and odometry related code. Please let me know if the code needs more explanation. Thank you! |
crheckman
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I've reviewed the pose delta accumulation method. As far as I can tell it looks accurate. The spiral behavior could be as a result of quaternions vs. Euler angles input, or potentially a bias in yaw -- but that would seem like a really strong bias and unlikely to be the case. Are you still seeing that behavior?
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Yes, I still see the spiral behavior. I tested several different input configurations, the direction of the spiral changes, but the odometry is still a form of a spiral. I had a chat with Kyle today, and he said that he saw similar output on his tests. |
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Thank you for reviewing the code . This pull request includes odometry generation and ros2 node related sections. The usage of ML model and the odomentry generation is in process_data(self) method.