Set sonar angle to 5° degree
[ros_wild_thumper.git] / scripts / wt_node.py
index 1549ea6..1cf9d8d 100755 (executable)
@@ -237,9 +237,9 @@ class MoveBase:
                odom.pose.pose.orientation.w = odom_quat[3]
                odom.pose.covariance[0] = self.odom_covar_xy # x
                odom.pose.covariance[7] = self.odom_covar_xy # y
-               odom.pose.covariance[14] = 99999 # z
-               odom.pose.covariance[21] = 99999 # rotation about X axis
-               odom.pose.covariance[28] = 99999 # rotation about Y axis
+               odom.pose.covariance[14] = self.odom_covar_xy # z
+               odom.pose.covariance[21] = self.odom_covar_angle # rotation about X axis
+               odom.pose.covariance[28] = self.odom_covar_angle # rotation about Y axis
                odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
 
                # set the velocity